Adding a New Robot

In order to guarantee a homogeneous overall quality, several steps have to be fulfilled when adding a new robot to the Webots main repository. This page lists theses steps.

In illustrate this documentation, let say that the fictional robot to be added is named iCobra-22 and is developed by the Snake Logistics company.

General Considerations

• The new robot should be defined as a PROTO node.

Files, Directories and Name Convention

• File and directory names should be written in Snake case.
• PROTO names should be written in Camel case.
• The new directory should be added in the projects/robots/COMPANY/ROBOT_NAME directory and fulfill the standard file hierarchy.

For example:

$WEBOTS_HOME/projects/robots/snake_logistics/i_cobra_22/controllers/i_cobra_22/
$WEBOTS_HOME/projects/robots/snake_logistics/i_cobra_22/protos/ICobra22.proto
$WEBOTS_HOME/projects/robots/snake_logistics/i_cobra_22/worlds/i_cobra_22.wbt

Expected PROTO Header

• The PROTO header should contain a description of the robot.

For example:

#VRML_SIM R2019a utf8
# license: Copyright Cyberbotics Ltd. Licensed for use only with Webots.
# license url: https://cyberbotics.com/webots_assets_license
# documentation url: https://www.cyberbotics.com/doc/guide/i_cobra_22
# The "iCobra-22" is a robot developed by "Snake Logistics": https://snake-logistics.com/icobra

PROTO ICobra22 [
  field SFVec3f    translation     0 0 0        # Is `Transform.translation`.
  field SFRotation rotation        0 1 0 1.5708 # Is `Transform.rotation`.
  field SFString   name            ""           # Is `Solid.name`.
  field SFString   controller      "i_cobra_22" # Is `Robot.controller`.
  field SFString   controllerArgs  ""           # Is `Robot.controllerArgs`.
  field SFString   customData      ""           # Is `Robot.customData`.
  field SFBool     supervisor      FALSE        # Is `Robot.supervisor`.
  field SFBool     synchronization TRUE         # Is `Robot.synchronization`.
]
{
  Robot {
    translation IS translation
    rotation IS rotation
    controller IS controller
    controllerArgs IS controllerArgs
    customData IS customData
    supervisor IS supervisor
    synchronization IS synchronization
    name IS name
    model "Snake Logistics iCobra-22"
    # ...
  }
}

Expectation on released worlds

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Documentation

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Helper Scripts

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Icon studio

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Web component studio

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