phyelds-webots

Webots integration for phyelds: run aggregate programs on the robots of a Webots simulation. One controller runs on any robot, and programs read and write the same sensors and actuators as on ARGoS.

Installation

Install it in the Python that Webots runs the controllers with (Python 3.12 or 3.13):

pip install phyelds-webots

The controller module comes with Webots.

Usage

Give each robot an Emitter and a Receiver: the range of the emitter decides who the neighbors are, and the receiver measures how far they are. Write the program:

from phyelds.calculus import aggregate
from phyelds.libraries.device import label, source
from phyelds.libraries.distances import neighbors_distances
from phyelds.libraries.spreading import distance_to


@aggregate
def main():
    distance = distance_to(source.sense(), neighbors_distances())   # metres, without GPS
    return label.send(f"{distance:.2f}m")

The controller of every robot is controllers/phyelds_controller/phyelds_controller.py:

from phyelds.webots import main

if __name__ == "__main__":
    main()

and the world names the program, next to the controller, and its options:

controller "phyelds_controller"
controllerArgs [ "gradient:main" "--source" "source" ]

With an InertialUnit the robot also senses its heading, the vectors to its neighbors and, with distance sensors, the obstacle; --gps adds its position. The led output colours its LEDs, and the velocity output drives its wheels, given --wheel-radius (and --wheels, if its motors have other names than left wheel motor and right wheel motor). The e-puck, Elisa-3, Khepera III and IV, Thymio II, Create and Pioneer 3-DX are tested in Webots, with the arguments each needs listed in the documentation. AggregateController and Body are there for a controller of your own.

See the documentation.