<s>
Webots	B-Application
is	O
a	O
free	O
and	O
open-source	O
3D	O
robot	B-Application
simulator	I-Application
used	O
in	O
industry	O
,	O
education	O
and	O
research	O
.	O
</s>
<s>
The	O
Webots	B-Application
project	O
started	O
in	O
1996	O
,	O
initially	O
developed	O
by	O
Dr.	O
Olivier	O
Michel	O
at	O
the	O
Swiss	O
Federal	O
Institute	O
of	O
Technology	O
(	O
EPFL	O
)	O
in	O
Lausanne	O
,	O
Switzerland	B-Protocol
and	O
then	O
from	O
1998	O
by	O
Cyberbotics	O
Ltd	O
.	O
as	O
a	O
proprietary	O
licensed	O
software	O
.	O
</s>
<s>
Webots	B-Application
includes	O
a	O
large	O
collection	O
of	O
freely	O
modifiable	O
models	O
of	O
robots	O
,	O
sensors	O
,	O
actuators	O
and	O
objects	O
.	O
</s>
<s>
Webots	B-Application
uses	O
a	O
fork	O
of	O
the	O
ODE	O
(	O
Open	B-Application
Dynamics	I-Application
Engine	I-Application
)	O
for	O
detecting	O
of	O
collisions	O
and	O
simulating	O
rigid	O
body	O
dynamics	O
.	O
</s>
<s>
Webots	B-Application
includes	O
a	O
set	O
of	O
sensors	O
and	O
actuators	O
frequently	O
used	O
in	O
robotic	O
experiments	O
,	O
e.g.	O
</s>
<s>
lidars	O
,	O
radars	O
,	O
proximity	B-Device
sensors	I-Device
,	O
light	O
sensors	O
,	O
touch	O
sensors	O
,	O
GPS	O
,	O
accelerometers	O
,	O
cameras	O
,	O
emitters	O
and	O
receivers	O
,	O
servo	O
motors	O
(	O
rotational	O
&	O
linear	O
)	O
,	O
position	O
and	O
force	O
sensor	O
,	O
LEDs	O
,	O
grippers	O
,	O
gyros	O
,	O
compass	O
,	O
IMU	O
,	O
etc	O
.	O
</s>
<s>
The	O
robot	O
controller	O
programs	O
can	O
be	O
written	O
outside	O
of	O
Webots	B-Application
in	O
C	B-Language
,	O
C++	B-Language
,	O
Python	B-Language
,	O
ROS	B-Application
,	O
Java	B-Language
and	O
MATLAB	B-Language
using	O
a	O
simple	O
API	O
.	O
</s>
<s>
Webots	B-Application
offers	O
the	O
possibility	O
to	O
take	O
screenshots	O
and	O
record	O
simulations	O
.	O
</s>
<s>
Webots	B-Application
worlds	O
are	O
stored	O
in	O
cross-platform	O
*	O
.wbt	O
files	O
whose	O
format	O
is	O
based	O
on	O
the	O
VRML	B-Application
language	O
.	O
</s>
<s>
One	O
can	O
also	O
import	O
and	O
export	O
Webots	B-Application
worlds	O
and	O
objects	O
in	O
the	O
VRML	B-Application
format	O
.	O
</s>
<s>
Webots	B-Application
can	O
also	O
stream	O
a	O
simulation	O
on	O
web	O
browsers	O
using	O
WebGL	B-Library
.	O
</s>
<s>
Since	O
August	O
18	O
,	O
2017	O
,	O
the	O
robotbenchmark.net	O
website	O
has	O
offered	O
free	O
access	O
to	O
a	O
series	O
of	O
robotics	O
benchmarks	O
based	O
on	O
Webots	B-Application
simulations	O
through	O
the	O
Webots	B-Application
web	O
interface	O
.	O
</s>
<s>
Webots	B-Application
instances	O
are	O
running	O
in	O
the	O
cloud	O
and	O
the	O
3D	O
views	O
are	O
displayed	O
in	O
the	O
user	O
browser	O
.	O
</s>
<s>
From	O
this	O
web	O
interface	O
,	O
users	O
can	O
program	O
robots	O
in	O
Python	B-Language
and	O
learn	O
robot	O
control	O
in	O
a	O
step-by-step	O
procedure	O
.	O
</s>
<s>
This	O
is	O
a	O
simple	O
example	O
of	O
C/C	O
++	O
controller	O
programming	O
with	O
Webots	B-Application
:	O
a	O
trivial	O
collision	O
avoidance	O
behavior	O
.	O
</s>
<s>
A	O
complete	O
and	O
up-to-date	O
list	O
is	O
provided	O
in	O
the	O
Webots	B-Application
user	O
guide	O
.	O
</s>
