Webots Reference Manual - chapter 2 - section 1

Webots Reference Manual


2.1 Chart

The Webots Node Chart outlines all the nodes available to build Webots worlds.

In the chart, an arrow between two nodes represents an inheritance relationship. The inheritance relationship indicates that a derived node (at the arrow tail) inherits all the fields and API functions of a base node (at the arrow head). For example, the Supervisor node inherits from the Robot node, and therefore all the fields and functions available in the Robot node are also available in the Supervisor node.

Boxes depicted with a dashed line (Light, Device and Geometry) represent abstract nodes, that is, nodes that cannot be instantiated (either using the SceneTree or in a .wbt file). Abstract nodes are used to group common fields and functions that are shared by derived nodes.

A box with round corners represents a Geometry node; that is, a node that will be graphically depicted when placed in the geometry field of a Shape node.

A box with a grey background indicates a node that can be used directly (or composed using Group and Transform nodes) to build a boundingObject used to detect collisions between Solid objects. Note that not all geometry nodes can be used as boundingObjects, and that although Group and Transform can be used, not every combination of these will work correctly.

node_hierarchy

Figure 2.1: Webots Nodes Chart

release 7.0.2
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