This should open the node and display its fields. Hands-on #3: Double-click on the RectangleArena node in the scene tree. Let's modify these fields to change the rectangle arena: RectangleArena: define the only object you see so far in this scene.Įach node has some customizable properties called Fields.TexturedBackroundLight: defines the light associated with the above background. TexturedBackground: defines the background of the scene (you should see mountains far away if you rotate a little bit the viewpoint).Viewpoint: defines the main viewpoint camera parameters.WorldInfo: contains global parameters of the simulation.It should currently list the following nodes: The scene tree view is where the nodes and fields can be modified. The scene tree can be viewed in two sub-windows of the main window: the 3D view (at the center of the main window) is the 3D representation of the scene tree and the scene tree view (on the left) is the hierarchical representation of the scene tree. Webots nodes stored in world files are organized in a tree structure called the scene tree. You can move the viewpoint in the 3D view using the mouse: left button, right button and the wheel. The 3D view should display a square arena with a checkered floor. This corresponds to the standard file hierarchy of a Webots project.Ĭlick on the Finish (Windows, Linux) or Done (macOS) button to close this window.Ĭongratulations, you just created your very first Webots world! Webots displays a list of directories and files it just created. Click all the tick boxes, including the "Add a rectangle arena" which is not ticked by default.Name the world file my_first_simulation.wbt instead of the proposed empty.wbt.Name the project directory my_first_simulation instead of the proposed my_project.The simulation is paused if the virtual time counter on the main toolbar is stopped.Ĭreate a new project from the Wizards menu by selecting the New Project Directory. Hands-on #2: Pause the current simulation by clicking on the Pause button of the 3D view (see the user interface description to find out the buttons). The world files must be stored directly in a directory called worlds. The file format is derived from the VRML97 language, and is human readable. The different objects are called Nodes and are organized hierarchically in a Scene Tree.Ī world is stored in a file having the. It defines the initial state of a simulation. Create a New WorldĪ World is a file containing information like where the objects are, what they look like, how they interact with each other, what is the color of the sky, how is defined the gravity, friction, masses of the objects, etc. The guided tour is also available from the Help menu of Webots. They are telling a lot about the possibilities of Webots. If you never saw it, please take some time to view the demos featured in the guided tour. You may also be invited to follow the Webots guided tour, go ahead and close the guided tour. If you are running Webots for the first time on this computer, you may be prompted to select a graphical theme. Hands-on #1: Start Webots by double-clicking on its icon (or invoking it from a command line in a Terminal). #Webots simulation sound installIf not already done, download and install Webots, following these installation instructions. %figure "What you should see at the end of the first tutorial." You will create your first simulation containing a simple environment: an arena with floor and walls, a few boxes, an e-puck robot and a controller program that will make the robot move. The objective of this first tutorial is to familiarize yourself with the user interface and with the basic concepts of Webots. Tutorial 1: Your First Simulation in Webots (30 Minutes)
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