#Interface choreograph and webots code#

!(images/save_as-button.png =26x26) The Save Text File As. !(images/save-button.png =26x26) The Save Text File menu item (and button) saves the current text file. menu item (and button) opens a file selection dialog that allows you to choose a text file (for example a '.java' file) to load. !(images/open-button.png =26x26) The Open Text File. !(images/new-button.png =26x26) The New Text File menu item (and button) opens an empty text file in the text editor. The simulation is not entirely destroyed and reconstructed as with a reload, but the initial state of all nodes is restored, which is much faster. !(images/reset-simulation-button.png =26x26) The Reset Simulation menu item (and button) restores the initial state of the simulation. Possible to cancel the loading of the world, in that case, the empty world will Load a window will pop up and show the progression. When opening (or reloading) a world, if the world takes more than 2 seconds to Please refer to Reset/Reload Matrix for more details. !(images/revert-button.png =26x26) The Reload World menu item (and button) reloads the current world from the saved version and restarts the simulation from the beginning. Note that a '.wbt' file should always be saved in a Webots project directory, and in the 'worlds' subdirectory, otherwise it will not be possible to reopen the file. menu item (and button) saves the current world with a new filename entered by the user. On each Save the content of the '.wbt' file is overwritten and no backup copies are created by Webots, therefore you should use this button carefully and eventually do safety copies manually. !(images/save-button.png =26x26) The Save World menu item (and button) saves the current world using the current filename (the filename that appears at the top of the main window). The Open Sample World menu item opens a dialog listing all the available sample worlds where it is possible to search for a specific '.wbt' file to load by entering the file name or part of it in the search field. The Open Recent World menu item gives the possibility of reopening a '.wbt' file that was opened recently by choosing it from the list displayed in the submenu. menu item (and button) opens a file selection dialog that allows you to choose a '.wbt' file to load. !(images/open-button.png =26x26) The Open World. Then, Webots will propose you to open the PROTO file in the text editor, so that you can continue to edit it.įinally, you will be able to insert an instance of your new PROTO in the scene tree as you would do for any other PROTO. Webots asks you to define a name for the PROTO node, the tags that should be included (if any), and the base node from which the PROTO itself will inherit.īased on the choice of base node, Webots will ask you which among its fields should be exposed (i.e., visible from the scene tree) and will create the necessary parameters accordingly. menu item will let you create a new PROTO for your project.

#Interface choreograph and webots code#

Then it creates a directory, a template source code file and a Makefile in your current project. Webots asks you to choose a programming language (C or C++) and a name for the new physics plugin. menu item will let you create a new physics plugin for your project. Then, Webots will ask you to enter the name of your controller and finally it will create all the necessary files (including a template source code file) in your current project directory. If you choose C or C++ on Windows, Webots will offer you the possibility to create a Makefile / gcc project or a Visual Studio project. You will first be prompted to choose between a C, C++, Java, Python or MATLAB TM controller. menu item allows you to create a new robot controller program. menu item allows you to create a simple world file in the current simulation project, which may contain some optional components, including a rectangle arena. Webots remembers the current project directory and automatically opens and saves any type of file from the corresponding subdirectory of the current project directory. menu item first prompts you to choose a filesystem location and then it creates a project directory.Ī project directory contains several subdirectories that are used to store the files related to a particular Webots project, i.e., world files, controller files, data files, plugins, etc. The New submenu allows you to create new simulation files: The File menu allows you to perform usual file operations: loading, saving, etc. The GUI has eight menus: File, Edit, View, Simulation, Build, Overlays, Tools and Help.

Webots GUI is composed of four principal windows: the 3D window that displays and allows you to interact with the 3D simulation, the Scene tree which is a hierarchical representation of the current world, the Text editor that allows you to edit source code, and finally, the Console that displays both compilation and controller outputs.