Robotics simulator

A robotics simulator is a simulator used to create an application for a physical robot without depending on the physical machine, thus saving cost and time. In some case, such applications can be transferred onto a physical robot (or rebuilt) without modification.

The term robotics simulator can refer to several different robotics simulation applications. For example, in mobile robotics applications, behavior-based robotics simulators allow users to create simple worlds of rigid objects and light sources and to program robots to interact with these worlds. Behavior-based simulation allows for actions that are more biotic in nature when compared to simulators that are more binary, or computational. Also, behavior-based simulators may learn from mistakes and can demonstrate the anthropomorphic quality of tenacity.

Robologix robotics simulator

One of the most popular applications for robotics simulators is for 3D modeling and rendering of a robot and its environment. This type of robotics software has a simulator that is a virtual robot, which can emulate the motion of a physical robot in a real work envelope. Some robotics simulators use a physics engine for more realistic motion generation of the robot. The use of a robotics simulator to develop a robotics control program is highly recommended regardless of whether a physical robot is available or not. The simulator allows for robotics programs to be conveniently written and debugged off-line with the final version of the program tested on a physical robot. This applies mainly to industrial robotic applications, since the success of off-line programming depends on how similar the physical environment of a robot is to a simulated environment.

Sensor-based robot actions are much more difficult to simulate and/or to program off-line, since the robot motion depends on instantaneous sensor readings in the real world.

Features

Modern simulators tend to provide the following features:

• Fast robot prototyping:
  • Using the own simulator as creation tool
  • Using external tools
• Physics engines for realistic movements: Most simulators use Bullet, ODE or PhysX.
• Realistic 3d rendering: Standard 3d modeling tools or third-party tools can be used to build the environments.
• Dynamic robot bodies with scripting: C, C++, Perl, Python, Java, URBI, and MATLAB languages used by Webots; C++ used by Gazebo.

Simulators

Among the newest technologies available today for programming are those which use a virtual simulation. Simulations with the use of virtual models of the working environment and the robots themselves can offer advantages to both the company and programmer. By using a simulation, costs are reduced, and robots can be programmed off-line which eliminates any down-time for an assembly line. Robot actions and assembly parts can be visualized in a three-dimensional virtual environment months before prototypes are even produced. Writing code for a simulation is also easier than writing code for a physical robot. While the move toward virtual simulations for programming robots is a step forward in user interface design, many such applications are only in their infancy.

General information

Software	Developers	Development status	License	3D rendering engine	Physics engine	3D modeller	Platforms supported
Gazebo	Open Source Robotics Foundation (OSRF)	Active	Apache 2.0	OGRE	ODE, Bullet, Simbody, DART	Internal	Linux, macOS, Windows
RoboDK	RoboDK	Active	Proprietary	OpenGL	Gravity plug-in	Internal	Linux, macOS, Windows, Android, iOS, Debian
SimSpark	O. Obst et al. (+26)	Active	GNU GPL (v2)	Internal	ODE	None	Linux, macOS, Windows
Webots	Cyberbotics Ltd.	Active	Apache 2.0	Internal (WREN)	Fork of ODE	Internal	Linux, macOS, Windows
OpenRAVE	OpenRAVE Community	Active	GNU LGPL	Coin3D, OpenSceneGraph	ODE, Bullet	Internal	Linux, macOS, Windows
CoppeliaSim	Coppelia Robotics	Active	Dual: commercial, GNU GPL	Internal	MuJoCo, Bullet, ODE, Vortex, Newton	Internal	Linux, macOS, Windows
Software	Developers	Development status	License	3D rendering engine	Physics engine	3D modeller	Platforms supported

Technical information

Software	Main programming language	Formats support	Extensibility	External APIs	Robotics middleware support	Primary user interface	Headless simulation
Gazebo	C++	SDF[1]/URDF,[2] OBJ, STL, COLLADA	Plug-ins (C++)	C++	ROS, Player, sockets (protobuf messages)	GUI	Yes
RoboDK	Python	SLDPRT, SLDASM, STEP, OBJ, STL, 3DS, COLLADA, VRML, Robot Operating System URDF, Rhinoceros 3D, ...	API,[3] Plug-In Interface[4]	Python, C/C++, C#, Matlab, ...	Socket	GUI	Yes
SimSpark	C++, Ruby	Ruby Scene Graphs	Mods (C++)	Network (sexpr)	Sockets (sexpr)	GUI, sockets	Un­known
Webots	C++	WBT, VRML, X3D, 3DS, Blender, BVH, COLLADA, FBX, STL, OBJ, URDF	API, PROTOs, plug-ins (C/C++)	C, C++, Python, Java, Matlab, ROS	Sockets, ROS, NaoQI	GUI	Yes[5]
OpenRAVE	C++, Python	XML, VRML, OBJ, COLLADA	Plug-ins (C++), API	C/C++, Python, Matlab	Sockets, ROS, YARP	GUI, sockets	Yes
CoppeliaSim	C++, Python, Lua	3DS, Blender, COLLADA, STL, OBJ, URDF, SDF, GLTF, XML	Plug-ins (C/C++), embedded scripts (Python, Lua), remote API (C, C++, Python, Java, MATLAB, Octave), add-ons (Python, Lua)	C, C++, Python, Java, MATLAB, Octave, ROS, ROS 2.0	Sockets, ROS, ROS 2.0, ZeroMQ	GUI	Yes
Software	Main programming language	Formats support	Extensibility	External APIs	Robotic middleware support	Primary user interface	Headless simulation

Infrastructure

Support

Software	Mailing list	API documentation	Public forum, help system	User manual	Issue tracker	Wiki	Chat
Gazebo	Yes[6]	Yes[7]	Yes[8]	Yes[9]	Yes[10]	No
RoboDK	Yes[11]	Yes[12]	Yes[13]	Yes[14]	Yes[15]	No	Un­known
SimSpark	Yes[16]	Yes[17]	No	Yes[18]	Yes[19]	Yes[20]	Un­known
Webots	No	Yes[21]	Yes[22]	Yes[23]	Yes[24]	Yes[25]	Yes[26]
OpenRAVE	Yes[27]	Yes[28]	Yes[29]	Yes[30]	Yes[29]	Yes[31]	Un­known
CoppeliaSim	No	Yes[32]	Yes[33]	Yes[34]	Yes[35]	Un­known	No
Software	Mailing list	API documentation	Public forum, help system	User manual	Issue tracker	Wiki

Code quality

Software	Static code checker	Style checker	Test system(s)	Test function coverage	Test branch coverage	Lines of code	Lines of comments	Continuous integration
Gazebo	cppcheck[36]	cpplint[36]	gtest and qtest[36]	77.0%[36]	53.3%[36]	320k[36]	106k[36]	Jenkins[36]
RoboDK	Un­known	Un­known	Un­known	Un­known	Un­known	Un­known	Un­known	Un­known
SimSpark	Un­known	Un­known	Un­known	Un­known	Un­known	Un­known	Un­known	Un­known
Webots	cppcheck[37]	clang-format[38]	unit tests[39]	100% of API functions[40]	master,[41] develop[42]	~200k	~50k	GitHub Actions
OpenRAVE	Un­known	Un­known	Python nose	Un­known	Un­known	Un­known	Un­known	Jenkins[43]
CoppeliaSim	Un­known	Un­known	Un­known	Un­known	Un­known	Un­known	Un­known	Un­known
Software	Static code checker	Style checker	Test system(s)	Test function coverage	Test branch coverage	Lines of code	Lines of comments	Continuous integration

Features

Software	CAD to motion	Dynamic collision avoidance	Relative end effectors	Off-line programming	Real-time streaming control of hardware
Gazebo	Un­known	Yes	Yes	Yes	Yes
RoboDK	Yes	Yes	Yes	Yes	Yes
SimSpark	Un­known	No	Un­known	No	No
Webots	Un­known	Yes	Yes	Yes	Yes
OpenRAVE	Un­known	No	Un­known	No	No
CoppeliaSim	Un­known	Yes	Yes	Yes	Yes
Software	CAD to motion	Dynamic collision avoidance	Relative end effectors	Off-line programming	Real-time streaming control

Robot families

Software	UGV (ground mobile robot)	UAV (aerial robots)	AUV (underwater robots)	Robotic arms	Robotic hands (grasping simulation)	Humanoid robots	Human avatars	Full list
Gazebo	Yes[44]	Yes[45]	Yes[46]	Yes[47]	Yes[48]	Yes[49]	Yes[50]
RoboDK	No	No	No	Yes[51]	No	No	No	Yes[51]
SimSpark	Yes	No	No	Maybe	Maybe	Yes	No
Webots	Yes	Yes	Yes[52]	Yes	Yes	Yes[53]	Yes	Yes[54]
OpenRAVE	Yes	Un­known	Un­known	Yes	Yes	Yes	Yes
CoppeliaSim	Yes	Yes	Yes	Yes	Yes	Yes	Yes	Yes[55]
Software	UGV (ground mobile robot)	UAV (aerial robots)	AUV (underwater robots)	Robotic arms	Robotic hands (grasping simulation)	Humanoid robots	Human avatars	Full list

Supported actuators

Software	Generic kinematic chains	Force-controlled motion	Full list	Circular kinematic chains	Kinematically redundant chains	Bifurcated kinematic chains
Gazebo	Yes	Yes		Yes	Yes	Yes
RoboDK	Un­known	Un­known		Un­known	Un­known	Un­known
SimSpark	Yes	No	SimSpark effectors	Un­known	Un­known	Un­known
Webots	Yes	Yes	Webots actuators	Yes	Yes	Yes
OpenRAVE	Yes	Yes	Joints,Extra Actuators	Yes[56]	Yes	Yes[57]
CoppeliaSim	Yes	Yes		Yes	Yes	Yes
Software	Generic kinematic chains	Force-controlled motion	Full list	Circular kinematic chains	Kinematically redundant chains	Bifurcated kinematic chains

Supported sensors

Software	Odometry	IMU	Collision	GPS	Monocular cameras	Stereo cameras	Depth cameras	Omnidirectional cameras	2D laser scanners	3D laser scanners	Full list
Gazebo	Yes	Yes	Yes[58]	Yes	Yes[59]	Yes	Yes	Yes	Yes[60]	Yes[60]
RoboDK	Un­known	Un­known	Un­known	Un­known	Un­known	Yes	Yes	Yes	Yes	Yes
SimSpark	Yes	Yes	Yes[61]	Partial[62]	Yes	Partial	Un­known	Un­known	No	No	SimSpark perceptors
Webots	Yes	Yes	Yes	Yes	Yes	Yes	Yes	Yes	Yes	Yes	Webots sensors
OpenRAVE	Yes	Yes	Yes	Yes	Yes	Yes	Yes	Un­known	Yes	Yes
CoppeliaSim	Yes	Yes	Yes	Yes	Yes	Yes	Yes	Yes	Yes	Yes
Software	Odometry	IMU	Collision	GPS	Monocular cameras	Stereo cameras	Depth cameras	Omnidirectional cameras	2D laser scanners	3D laser scanners	Full list

References

1. OSRF. "SDF". sdformat.org. Retrieved 2019-04-27.
2. "urdf - ROS Wiki". wiki.ros.org. Retrieved 2017-10-06.
3. "RoboDK API". GitHub. 22 October 2021.
4. "RoboDK Plug-In Interface". GitHub. 16 October 2021.
5. However, requires a connection on an X server for 3D rendering
6. "Gazebo Community". Retrieved 2019-04-27.
7. "Gazebo API". Gazebo Community. Retrieved 2019-04-27.
8. "Gazebo Answers". Gazebo Community. Retrieved 2019-04-27.
9. "Gazebo Tutorials". Gazebo Community. Retrieved 2019-04-27.
10. "Gazebo Issue Tracker". Gazebo Community. Retrieved 2019-04-27.
11. RoboDK mailing list
12. RoboDK API Documentation
13. RoboDK Forum
14. RoboDK Documentation
15. RoboDK Bug tracker
16. SimSpark mailing lists
17. "SimSpark client protocols". Archived from the original on 2016-02-25. Retrieved 2015-04-08.
18. "SimSpark user manual (Wiki)". Archived from the original on 2015-02-25. Retrieved 2015-04-08.
19. SimSpark Tracker
20. SimSpark Wiki^{[permanent dead link]}
21. Webots Reference Manual
22. "Discussions · cyberbotics/Webots". GitHub.
23. Webots User Guide
24. Webots issues on GitHub
25. Webots technical wiki on GitHub
26. Webots Discord channel
27. OpenRAVE mailing list
28. OpenRAVE API
29. OpenRAVE Issue Tracker
30. OpenRAVE User Guide
31. OpenRAVE Wiki
32. CoppeliaSim API
33. Coppelia Robotics Forum
34. CoppeliaSim User Manual
35. Coppelia Robotics bug reports
36. OSRF. "Gazebo". gazebosim.org. Retrieved 2019-04-27.
37. CppCheck
38. Clang Format
39. Unit tests
40. API tests
41. Webots master
42. Webots develop
43. Source
44. OSRF. "Gazebo : Tutorial : Beginner: Model Editor". gazebosim.org. Retrieved 2019-04-27.
45. OSRF. "Gazebo : Tutorial : Aerodynamics". gazebosim.org. Retrieved 2019-04-27.
46. OSRF. "Gazebo : Tutorial : Hydrodynamics". gazebosim.org. Retrieved 2019-04-27.
47. OSRF. "Gazebo : ARIAC". gazebosim.org. Retrieved 2019-04-27.
48. OSRF. "Gazebo : HAPTIX". gazebosim.org. Retrieved 2019-04-27.
49. "DARPA's legacy: Open source simulation for robotics development and testing". Robohub.org. Retrieved 2019-04-27.
50. OSRF. "Gazebo : Tutorial : Make an animated model (actor)". gazebosim.org. Retrieved 2019-04-27.
51. RoboDK robot library
52. including Salamander robot
53. including Nao, DARwIn-OP, Fujitsu HOAP2, Kondo KHR-2HV, KHR-3, etc.
54. Webots robot models
55. CoppeliaSim main features
56. OpenRAVE Closed chains
57. OpenRAVE Dual-arm example
58. OSRF. "Gazebo : Tutorial : Contact Sensor". gazebosim.org. Retrieved 2019-04-27.
59. OSRF. "Gazebo : Tutorial : Camera Distortion". gazebosim.org. Retrieved 2019-04-27.
60. OSRF. "Gazebo : Tutorial : Intermediate: Velodyne". gazebosim.org. Retrieved 2019-04-27.
61. Collision detection uses a simplified model
62. Possible, no model for noise