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Simulator For Robotics

1. Goal

For the robotics algorithm and development, a simulation platform is needed

In this post, I would review existing robot simulation platform, and decide one for further developmetn

Consideration:

  • Open Source
  • Speed
  • Lightweight

What makes a good simulator from zhihu

  • Accurate physics
  • Various sensor
  • Standard

For my current simulation, I want to try a mobile robot with arm, find a simulation platform that provide the existing robot is a great idea.

Since the purpose is to verify the algorithm, still a huge gap between Sim and Real, so the simulator could focus on the vision and kinematics rather than dynamics.

Kuka YouBot is the kind of robot I would like use,

2. Compare

Webots

  • Existing model and sensor to use

  • QT+ODE+OpenGL

Gazebo: too much dependency, huge system, open source

Nvidia: Rely on Nvidia GPU

Currently, I think the Webots would be the choice to go

3. Test

A .wbt file contain all the info

  • World info
  • viewpoint
  • Background and lighting
  • Object

To save the world, pause, reset, modify, save

Use different language to write the controller

image-20230211235756159

Works great, and not much hassel

4. Conclusion

For current simulation purpose, the Webots is choosed becaused the out-of-box experience

  • Pre commercial product, make it a stable simulation
  • Offical model like Kuka YouBot make a good out-of-box experience
  • Python and multiple language support
  • Camera sensor support