python 使用 webots 进行仿真

pycharm连接webots,用python控制机器人

Webots：Controller编写（Python）

运行----编辑配置

总

PATH

D:\webots\lib\controller;  D:\webots\msys64\mingw64\bin;  D:\Webots\msys64\mingw64\bin\cpp;

分

D:\webots\lib\controller\\; 

D:\webots\msys64\mingw64\bin\\;

 D:\Webots\msys64\mingw64\bin\cpp;

系统环境变量

%WEBOTS_HOME%\lib\controller

%WEBOTS_HOME%\msys64\mingw64\bin

%WEBOTS_HOME%\msys64\mingw64\bin\cpp

from controller import Robot

robot = Robot()
timestep = int(robot.getBasicTimeStep())
robot_name = robot.getControllerArguments();

motor1 = robot.getMotor('right wheel motor')
motor2 = robot.getMotor('left wheel motor')

motor1.setPosition(float('inf'))
motor2.setPosition(float('inf'))

motor1.setVelocity(2)
motor2.setVelocity(5)

robot.step(timestep)
t=0
while robot.step(timestep) != -1:
    t=t+1

报错结论：

以上配置后出现以下错误

D:\Anaconda\envs\yolov5_src\lib\site-packages\numpy\__init__.py:148: UserWarning: mkl-service package failed to import, therefore Intel(R) MKL initialization ensuring its correct out-of-the box operation under condition when Gnu OpenMP had already been loaded by Python process is not assured. Please install mkl-service package, see http://github.com/IntelPython/mkl-service
  from . import _distributor_init
Traceback (most recent call last):
  File "F:/仿真webots/control_bot.py", line 1, in <module>
    from controller import Robot
  File "D:\webots\lib\controller\python37\controller.py", line 16, in <module>
    import _controller
ImportError: DLL load failed: 找不到指定的模块。

理论上当添加web下的路径到系统的环境变量中后，可直接使用将 D:\webots\lib\controller\python37
文件夹复制到项目中，并在这个文件夹下进行，main文件的使用

例子wbt下载