Webots Reference Manual - chapter 9 - section 3

Webots Reference Manual


9.3 Python API

The following tables describes the Python classes and their methods.

from controller import Accelerometer
class Accelerometer (Device) :
   def enable(self, ms)
   def disable(self)
   def getSamplingPeriod(self)
   def getValues(self)

from controller import Camera
class Camera (Device) :
   COLOR, RANGE_FINDER, BOTH
   def enable(self, ms)
   def disable(self)
   def getSamplingPeriod(self)
   def getFov(self)
   def setFov(self, fov)
   def getWidth(self)
   def getHeight(self)
   def getNear(self)
   def getMaxRange(self)
   def getType(self)
   def getImage(self)
   def getImageArray(self)
   def imageGetRed(image, width, x, y)
   imageGetRed = staticmethod(imageGetRed)
   def imageGetGreen(image, width, x, y)
   imageGetGreen = staticmethod(imageGetGreen)
   def imageGetBlue(image, width, x, y)
   imageGetBlue = staticmethod(imageGetBlue)
   def imageGetGrey(image, width, x, y)
   imageGetGrey = staticmethod(imageGetGrey)
   def getRangeImage(self)
   def getRangeImageArray(self)
   def rangeImageGetDepth(image, width, x, y)
   rangeImageGetDepth = staticmethod(rangeImageGetDepth)
   def saveImage(self, filename, quality)

from controller import Compass
class Compass (Device) :
   def enable(self, ms)
   def disable(self)
   def getSamplingPeriod(self)
   def getValues(self)

from controller import Connector
class Connector (Device) :
   def enablePresence(self, ms)
   def disablePresence(self)
   def getPresence(self)
   def lock(self)
   def unlock(self)

from controller import Device
class Device :
   def getName(self)
   def getType(self)

from controller import DifferentialWheels
class DifferentialWheels (Robot) :
   def __init__(self)
   def __del__(self)
   def setSpeed(self, left, right)
   def enableEncoders(self, ms)
   def disableEncoders(self)
   def getEncodersSamplingPeriod(self)
   def getLeftEncoder(self)
   def getRightEncoder(self)
   def setEncoders(self, left, right)

from controller import Display
class Display (Device) :
   RGB, RGBA, ARGB, BGRA
   def getWidth(self)
   def getHeight(self)
   def setColor(self, color)
   def setAlpha(self, alpha)
   def setOpacity(self, opacity)
   def drawPixel(self, x1, y1)
   def drawLine(self, x1, y1, x2, y2)
   def drawRectangle(self, x, y, width, height)
   def drawOval(self, cx, cy, a, b)
   def drawPolygon(self, x, y)
   def drawText(self, txt, x, y)
   def fillRectangle(self, x, y, width, height)
   def fillOval(self, cx, cy, a, b)
   def fillPolygon(self, x, y)
   def imageCopy(self, x, y, width, height)
   def imagePaste(self, ir, x, y)
   def imageLoad(self, filename)
   def imageNew(self, data, format)
   def imageSave(self, ir, filename)
   def imageDelete(self, ir)

from controller import DistanceSensor
class DistanceSensor (Device) :
   def enable(self, ms)
   def disable(self)
   def getSamplingPeriod(self)
   def getValue(self)

from controller import Emitter
class Emitter (Device) :
   CHANNEL_BROADCAST
   def send(self, data)
   def getChannel(self)
   def setChannel(self, channel)
   def getRange(self)
   def setRange(self, range)
   def getBufferSize(self)

from controller import Field
class Field :
   SF_BOOL, SF_INT32, SF_FLOAT, SF_VEC2F, SF_VEC3F,
   SF_ROTATION, SF_COLOR, SF_STRING, SF_NODE, MF,
   MF_INT32, MF_FLOAT, MF_VEC2F, MF_VEC3F, MF_COLOR,
   MF_STRING, MF_NODE
   def getType(self)
   def getTypeName(self)
   def getCount(self)
   def getSFBool(self)
   def getSFInt32(self)
   def getSFFloat(self)
   def getSFVec2f(self)
   def getSFVec3f(self)
   def getSFRotation(self)
   def getSFColor(self)
   def getSFString(self)
   def getSFNode(self)
   def getMFInt32(self, index)
   def getMFFloat(self, index)
   def getMFVec2f(self, index)
   def getMFVec3f(self, index)
   def getMFColor(self, index)
   def getMFString(self, index)
   def getMFNode(self, index)
   def setSFBool(self, value)
   def setSFInt32(self, value)
   def setSFFloat(self, value)
   def setSFVec2f(self, values)
   def setSFVec3f(self, values)
   def setSFRotation(self, values)
   def setSFColor(self, values)
   def setSFString(self, value)
   def setMFInt32(self, index, value)
   def setMFFloat(self, index, value)
   def setMFVec2f(self, index, values)
   def setMFVec3f(self, index, values)
   def setMFColor(self, index, values)
   def setMFString(self, index, value)
   def importMFNode(self, position, filename)

from controller import GPS
class GPS (Device) :
   def enable(self, ms)
   def disable(self)
   def getSamplingPeriod(self)
   def getValues(self)

from controller import Gyro
class Gyro (Device) :
   def enable(self, ms)
   def disable(self)
   def getSamplingPeriod(self)
   def getValues(self)

from controller import ImageRef
class ImageRef :

from controller import InertialUnit
class InertialUnit (Device) :
   def enable(self, ms)
   def disable(self)
   def getSamplingPeriod(self)
   def getRollPitchYaw(self)
from controller import LED
class LED (Device) :
   def set(self, state)

from controller import LightSensor
class LightSensor (Device) :
   def enable(self, ms)
   def disable(self)
   def getSamplingPeriod(self)
   def getValue(self)

from controller import Motion
class Motion :
   def __init__(self, fileName)
   def __del__(self)
   def isValid(self)
   def play(self)
   def stop(self)
   def setLoop(self, loop)
   def setReverse(self, reverse)
   def isOver(self)
   def getDuration(self)
   def getTime(self)
   def setTime(self, time)

from controller import Node
class Node :
   NO_NODE, APPEARANCE, BACKGROUND, BOX, COLOR, CONE,
   COORDINATE, CYLINDER, DIRECTIONAL_LIGHT, ELEVATION_GRID,
   EXTRUSION, FOG, GROUP, IMAGE_TEXTURE, INDEXED_FACE_SET,
   INDEXED_LINE_SET, MATERIAL, POINT_LIGHT, SHAPE, SPHERE,
   SPOT_LIGHT, SWITCH, TEXTURE_COORDINATE, TEXTURE_TRANSFORM,
   TRANSFORM, VIEWPOINT, WORLD_INFO, CAPSULE, PLANE, ROBOT,
   SUPERVISOR, DIFFERENTIAL_WHEELS, SOLID, PHYSICS, CAMERA_ZOOM,
   CHARGER, DAMPING, CONTACT_PROPERTIES, ACCELEROMETER,
   CAMERA, COMPASS, CONNECTOR, DISPLAY, DISTANCE_SENSOR,
   EMITTER, GPS, GYRO, LED, LIGHT_SENSOR, MICROPHONE, PEN, RADIO,
   RECEIVER, SERVO, SPEAKER, TOUCH_SENSOR
   def getType(self)
   def getTypeName(self)
   def getField(self, fieldName)
   def getPosition(self)
   def getOrientation(self)

from controller import Pen
class Pen (Device) :
   def write(self, write)
   def setInkColor(self, color, density)

from controller import Receiver
class Receiver (Device) :
   CHANNEL_BROADCAST
   def enable(self, ms)
   def disable(self)
   def getSamplingPeriod(self)
   def getQueueLength(self)
   def nextPacket(self)
   def getData(self)
   def getDataSize(self)
   def getSignalStrength(self)
   def getEmitterDirection(self)
   def setChannel(self, channel)
   def getChannel(self)

from controller import Robot
class Robot :
   MODE_SIMULATION, MODE_CROSS_COMPILATION,
   MODE_REMOTE_CONTROL
   KEYBOARD_END, KEYBOARD_HOME, KEYBOARD_LEFT, KEYBOARD_UP,
   KEYBOARD_RIGHT, KEYBOARD_DOWN, KEYBOARD_PAGEUP,
   KEYBOARD_PAGEDOWN, KEYBOARD_NUMPAD_HOME,
   KEYBOARD_NUMPAD_LEFT, KEYBOARD_NUMPAD_UP,
   KEYBOARD_NUMPAD_RIGHT, KEYBOARD_NUMPAD_DOWN,
   KEYBOARD_NUMPAD_END, KEYBOARD_KEY, KEYBOARD_SHIFT,
   KEYBOARD_CONTROL, KEYBOARD_ALT
   def __init__(self)
   def __del__(self)
   def step(self, ms)
   def getAccelerometer(self, name)
   def getCamera(self, name)
   def getCompass(self, name)
   def getConnector(self, name)
   def getDisplay(self, name)
   def getDistanceSensor(self, name)
   def getEmitter(self, name)
   def getGPS(self, name)
   def getGyro(self, name)
   def getInertialUnit(self, name)
   def getLED(self, name)
   def getLightSensor(self, name)
   def getPen(self, name)
   def getReceiver(self, name)
   def getServo(self, name)
   def getTouchSensor(self, name)
   def batterySensorEnable(self, ms)
   def batterySensorDisable(self)
   def getBatterySensorSamplingPeriod(self)
   def batterySensorGetValue(self)
   def getBasicTimeStep(self)
   def getMode(self)
   def getModel(self)
   def getName(self)
   def getProjectPath(self)
   def getSynchronization(self)
   def getTime(self)
   def keyboardEnable(self, ms)
   def keyboardDisable(self)
   def keyboardGetKey(self)

from controller import Servo
class Servo (Device) :
   def setPosition(self, position)
   def setVelocity(self, vel)
   def setAcceleration(self, force)
   def setMotorForce(self, motor_force)
   def setControlP(self, p)
   def enablePosition(self, ms)
   def disablePosition(self)
   def getPositionSamplingPeriod(self)
   def getPosition(self)
   def enableMotorForceFeedback(self, ms)
   def disableMotorForceFeedback(self)
   def getMotorForceFeedbackSamplingPeriod(self)
   def getMotorForceFeedback(self)
   def setForce(self, force)

from controller import Supervisor
class Supervisor (Robot) :
   def __init__(self)
   def __del__(self)
   def exportImage(self, file, quality)
   def getRoot(self)
   def getFromDef(self, name)
   def setLabel(self, id, label, xpos, ypos, size, color, transparency)
   def simulationQuit(self, status)
   def simulationRevert(self)
   def simulationPhysicsReset(self)
   def startMovie(self, file, width, height, type, quality)
   def stopMovie(self)

from controller import TouchSensor
class TouchSensor (Device) :
   def enable(self, ms)
   def disable(self)
   def getSamplingPeriod(self)
   def getValue(self)
   def getValues(self)

release 7.0.2
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