0
$\begingroup$

I am trying to use the webots platform for developing controllers. I need the differential equations governing the motion of the robots. How can I get the equations of motion used in webots?

$\endgroup$
0
$\begingroup$

EDIT: the below mention function does not export equations directly, as you requested, but exports the dynamic system in the DIF - Dynamics Interchange Format

Webots uses the Open Dynamics Engine (ODE) to simulate physics. ODE includes an export function for exporting the ODE called dWorldExportDIF().

Webots seems to support this export function and it also includes a test, which uses the function mentioned above to export the equations. The test, which exports the equations can be found here: https://github.com/cyberbotics/webots/blob/master/tests/physics/plugins/physics/ode_dif_exporter/ode_dif_exporter.c

| improve this answer | |
$\endgroup$

Your Answer

By clicking “Post Your Answer”, you agree to our terms of service, privacy policy and cookie policy

Not the answer you're looking for? Browse other questions tagged or ask your own question.