Supervisor devices UObjects

Supervisor devices UObjects
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The supervisor UObjects are only available from a supervisor robot (i.e. from the controller of a supervisor node in Webots).

This extended API allows URBI to control the world and the whole simulation.

Label

Constructor

Label (string text): Construct a new Label object and set its displayed text to "text".

Attributes

txt: Displayed text.
x: X value.
y: Y value.
r: R component of the text's color.
g: G component of the text's color.
b: B component of the text's color.
a: alpha component of the text's color.
size: Text's size.

Manipulate Node

Constructor

ManipulateNode (string nameOfWebotsManipulatedNode)

Construct a new ManipulateNode object. ManipulateNode can only manipulate solid objects. Give the name of the manipulated object to the constructor of ManipulateNode.

Example:

floor = new ManipulateNode("FLOOR");

Attributes

tx: Translation X value.
ty: Translation Y value.
tz: Translation Z value.
ax: X angle value.
ay: Y angle value.
az: Z angle value.

Simulation Controller

Constructor

SimulationController (): Construct a new Simulation Controller object.

Functions

physicsReset (): Sends a request to the simulator process, asking to stop the movement of all physics enabled solids in the world. It means that for any Solid node containing a Physics node, the linear and angular velocities of the corresponding body is reset to 0, hence the inertia is stopped. This function is especially useful when resetting a robot at an initial position from which no initial inertia is required. This function resets the seed of the random number generator used in Webots, so that noise based simulations can be be reproduced identically after calling this function.
revert (): Sends a request to the simulator process, asking to reload the current world immediately. As a result of reloading the current world, the supervisor process and all the robot processes are terminated and restarted. You might want to save some data in a file from you supervisor program to be able to reload it when the supervisor controller restarts.
quit (): Sends a request to the simulator process, asking to terminate and quit immediately. As a result of terminating the simulator process, all the controller processes, including the calling supervisor controller process will terminate.