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 biological in nature when compared to simulators that are more binary, or computational. In addition, behavior-based simulators may "learn" from mistakes and are capable of demonstrating the anthropomorphic quality of tenacity.
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 is capable of emulating the motion of an actual 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 for development of a robotics control program is highly recommended regardless of whether an actual 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 an actual robot. This primarily holds for industrial robotic applications only, since the success of off-line programming depends on how similar the real environment of the robot is to the simulated environment.
Sensor-based robot actions are much more difficult to simulate and/or to program off-line, since the robot motion depends on the 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 (Virtual Robot Experimentation Platform, Webots, R-Station, Marilou, 4DV-Sim).
Using external tools.
Physics engines for realistic movements. Most simulators use ODE (Gazebo, LpzRobots, Marilou, Webots) or PhysX (Microsoft Robotics Studio, 4DV-Sim).
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, MATLAB languages used by Webots, Python 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 visualised in a 3-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 |
|---|---|---|---|---|---|---|---|
| Actin | Energid Technologies | Active | Proprietary | OpenGL | Proprietary | Proprietary | Windows, macOS, Linux, RTLinux, VxWorks, RTOS-32, and RTX. (QNX Planned) |
| ARS | RAL | Inactive | BSD | VTK | ODE | None | Linux, macOS, Windows |
| AUTOMAPPPS | Convergent Information Technologies GmbH | Active | Proprietary | OpenGL | unknown | Internal | Linux, Windows |
| Gazebo | Open Source Robotics Foundation(OSRF) | Active | Apache 2.0 | OGRE | ODE/Bullet/Simbody/DART | Internal | Linux |
| MORSE | Academic community | Active | BSD | Blender game engine | Bullet | Blender | Linux, BSD*, macOS |
| OpenHRP | AIST | Active | Eclipse | Java3D | ODE/Internal | Internal | Linux, Windows |
| RoboDK | RoboDK | Active | Proprietary | OpenGL | none | Internal | Linux, macOS, Windows, Android |
| SimSpark | O. Obst et al. (+26) | Active | GNU GPL (v2) | Internal | ODE | None | Linux, macOS, Windows |
| V-Rep | Coppelia Robotics | Active | Proprietary/GNU GPL | Internal | ODE/Bullet/Vortex/Newton | Internal | Linux, macOS, Windows |
| Webots | Cyberbotics Ltd. | Active | Proprietary | Proprietary | Proprietary (based on ODE) | Proprietary | Linux, macOS, Windows |
| 4DV-Sim | 4D Virtualiz | Active | Proprietary | OGRE | PhysX | Internal | Linux |
| OpenRAVE | OpenRAVE Community | Active | GNU LGPL | Coin3D/OpenSceneGraph | ODE/Bullet | 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 |
|---|---|---|---|---|---|---|---|
| Actin | C++ | SLDPRT, SLDASM, STEP, OBJ, STL, 3DS, Collada, VRML, URDF, XML, ECD, ECP, ECW, ECX, ECZ, | Plugins (C++), API | Unknown | ROS | GUI | Yes (ActinRT) |
| ARS | Python | Unknown | Python | Unknown | None | Unknown | Unknown |
| AUTOMAPPPS | C++, Python | STEP, IGES, STL | Plugins (C), API | XML, C | Socket | GUI | Yes |
| Gazebo | C++ | SDF/URDF, OBJ, STL, Collada | Plugins (C++) | C++ | ROS, Player, Sockets (protobuf messages) | GUI | Yes |
| MORSE | Python | Unknown | Python | Python | Sockets, YARP, ROS, Pocolibs, MOOS | Command-line | Yes |
| OpenHRP | C++ | VRML | Plugins (C++), API | C/C++, Python, Java | OpenRTM-aist | GUI | Unknown |
| RoboDK | Python | STEP, IGES, STL, WRML | Plugins (C++), API | C/C++, Python, Matlab | Socket | GUI | Unknown |
| SimSpark | C++, Ruby | Ruby Scene Graphs | Mods (C++) | Network (sexpr) | Sockets (sexpr) | GUI, Sockets | Unknown |
| V-Rep | LUA | OBJ, STL, DXF, 3DS, Collada, URDF | API, Add-ons, Plugins | C/C++, Python, Java, Urbi, Matlab/Octave | Sockets, ROS | GUI | Yes |
| Webots | C++ | WBT, VRML, X3D | API, PROTOs, Plugins (C/C++) | C, C++, Python, Java, Matlab, ROS | Sockets, ROS, NaoQI | GUI | Yes |
| 4DV-Sim | C++ | 3DS, OBJ, Mesh | Plugins (C++), API | FMI/FMU, Matlab | ROS, Sockets, Plug & Play interfaces | GUI | Yes |
| OpenRAVE | C++, Python | XML, VRML, OBJ, Collada | Plugins (C++), API | C/C++, Python, Matlab | Sockets, ROS, YARP | GUI, Sockets | 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 |
|---|---|---|---|---|---|---|
| Actin | No | Yes | No | Yes | Yes (Internal) | No |
| ARS | Unknown | Unknown | Unknown | Unknown | Unknown | Unknown |
| AUTOMAPPPS | Yes | Yes | No | Yes | Yes | No |
| Gazebo | Yes | Yes | Yes | Yes | Yes | Yes |
| MORSE | Yes | Yes | No | Yes | Yes | No |
| OpenHRP | Yes | Yes | No | Yes | Yes | No |
| RoboDK | Yes | Yes | No | Yes | No | No |
| SimSpark | Yes | Yes | No | Yes | Yes | Yes |
| V-Rep | No | Yes | Yes | Yes | Unknown | No |
| Webots | No | Yes | Yes | Yes | Yes | Yes |
| 4DV-Sim | Yes | No | Yes | Yes | Yes | No |
| OpenRAVE | Yes | Yes | Yes | Yes | Yes | Yes |
| 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 |
|---|---|---|---|---|---|---|---|---|
| Actin | Unknown | Unknown | Unknown | Unknown | Unknown | Unknown | Unknown | Jenkins |
| ARS | Unknown | Unknown | Unknown | Unknown | Unknown | Unknown | Unknown | Unknown |
| AUTOMAPPPS | Unknown | Unknown | Unknown | Unknown | Unknown | Unknown | Unknown | Unknown |
| Gazebo | cppcheck | cpplint | gtest and qtest | 46.1% | 34.3% | 190.7k | 60.45k | Jenkins |
| MORSE | N/A | pylint | Python unittests | Unknown | Unknown | 31.4k | 9.0k | Jenkins, Travis |
| OpenHRP | Unknown | Unknown | Unknown | Unknown | Unknown | Unknown | Unknown | Unknown |
| RoboDK | Unknown | Unknown | Unknown | Unknown | Unknown | Unknown | Unknown | Unknown |
| SimSpark | Unknown | Unknown | Unknown | Unknown | Unknown | Unknown | Unknown | Unknown |
| V-Rep | Unknown | Unknown | Unknown | Unknown | Unknown | Unknown | Unknown | Unknown |
| Webots | Unknown | Unknown | Unknown | Unknown | Unknown | Unknown | Unknown | Unknown |
| 4DV-Sim | Unknown | Unknown | Unknown | Unknown | Unknown | Unknown | Unknown | Unknown |
| OpenRAVE | Unknown | Unknown | Python nose | Unknown | Unknown | Unknown | Unknown | Jenkins |
| 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 |
|---|---|---|---|---|---|
| Actin | Yes (Tool Paths) | Yes | Yes | Yes | Yes |
| ARS | Unknown | No | Unknown | No | No |
| Gazebo | Unknown | Yes | Yes | Yes | Yes |
| MORSE | Unknown | No | Unknown | No | No |
| OpenHRP | Unknown | No | Unknown | No | No |
| RoboDK | Unknown | No | Unknown | Yes | No |
| SimSpark | Unknown | No | Unknown | No | No |
| V-Rep | Unknown | No | Unknown | No | No |
| Webots | Unknown | Yes | Yes | Yes | Yes |
| 4DV-Sim | Unknown | No | Unknown | No | No |
| OpenRAVE | Unknown | No | Unknown | No | No |
| Software | CAD to Motion | Dynamic Collision Avoidance | Relative End Effectors | Off-line Programming | Real-time Streaming Control |
Families of robots
| Software | UGV (ground mobile robot) | UAV (aerial robots) | AUV (underwater robots) | Robotic arms | Robotic hands (grasping simulation) | Humanoid robots | Human avatars | Full list |
|---|---|---|---|---|---|---|---|---|
| Actin | Yes (Can Include Manipulators) | Yes (Can Include Manipulators) | Yes (Can Include Manipulators) | Yes | Yes | Yes | Yes | |
| ARS | Unknown | Unknown | Unknown | Unknown | Unknown | Unknown | Unknown | |
| Gazebo | Yes | Yes | Yes | Yes | Yes | Yes | Yes | |
| MORSE | Yes | Yes | Partial | Some | No | No | Yes | |
| OpenHRP | Yes | No | No | Yes | Yes | Yes | Yes | |
| RoboDK | No | No | No | Yes | No | No | No | |
| SimSpark | Yes | No | No | Maybe | Maybe | Yes | No | |
| V-Rep | Yes | Yes | No | Yes | Yes | Yes | Yes | |
| Webots | Yes | Yes | Yes | Yes | Yes | Yes | Yes | Webots robot models |
| 4DV-Sim | Yes | Yes | No | Yes | Maybe | No | Yes | |
| OpenRAVE | Yes | Unknown | Unknown | Yes | Yes | Yes | Yes | |
| 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 |
|---|---|---|---|---|---|---|
| Actin | Yes | Yes | Motion Constraints | Yes | Yes | Yes |
| ARS | Unknown | Unknown | Unknown | Unknown | Unknown | |
| Gazebo | Yes | Yes | Yes | Yes | Yes | |
| MORSE | Yes | Yes | MORSE actuators | Unknown | Unknown | Unknown |
| OpenHRP | Yes | Yes | Unknown | Unknown | Unknown | |
| RoboDK | Unknown | Unknown | Unknown | Unknown | Unknown | |
| SimSpark | Yes | No | SimSpark effectors | Unknown | Unknown | Unknown |
| V-Rep | Yes | Yes | Unknown | Unknown | Unknown | |
| Webots | Yes | Yes | Webots actuators | Yes | Yes | Yes |
| 4DV-Sim | Yes | Yes | Unknown | Unknown | Unknown | |
| OpenRAVE | Yes | Yes | Joints,Extra Actuators | 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 |
|---|---|---|---|---|---|---|---|---|---|---|---|
| Actin | Yes | Yes | Yes | Unknown | Yes | Yes | Yes | Yes | Yes | Yes | |
| ARS | Unknown | Unknown | Unknown | Unknown | Unknown | Unknown | Unknown | Unknown | Unknown | Unknown | |
| AUTOMAPPPS | Unknown | Unknown | Unknown | Unknown | Yes | Yes | Yes | Unknown | Yes | Yes | |
| Gazebo | Yes | Yes | Yes | Yes | Yes | Yes | Yes | Yes | Yes | Yes | |
| MORSE | Yes | Yes | Yes | Yes | Yes | Unknown | Yes | Unknown | Yes | Yes | MORSE sensors |
| OpenHRP | Unknown | Yes | Yes | Unknown | Yes | Unknown | Yes | Unknown | Yes | Yes | OpenHRP sensors |
| RoboDK | Unknown | Unknown | Unknown | Unknown | Unknown | Unknown | Unknown | Unknown | Unknown | Unknown | |
| SimSpark | Yes | Yes | Yes | Partial | Yes | Partial | Unknown | Unknown | No | No | SimSpark perceptors |
| V-Rep | Unknown | Yes | Yes | Yes | Yes | Yes | Yes | Unknown | Yes | Yes | |
| Webots | Yes | Yes | Yes | Yes | Yes | Yes | Yes | Yes | Yes | Yes | Webots sensors |
| 4DV-Sim | Yes | Yes | Yes | Yes | Yes | Yes | Yes | Yes | Yes | Yes | |
| OpenRAVE | Yes | Yes | Yes | Yes | Yes | Yes | Yes | Unknown | Yes | Yes | |
| Software | Odometry | IMU | Collision | GPS | Monocular cameras | Stereo cameras | Depth cameras | Omnidirectional cameras | 2D laser scanners | 3D laser scanners | Full list |
Other simulators
Open source simulators
breve: a 3D-world multi-agent simulator in Python.
EZPhysics: Combination of Ogre3D and ODE physics, GUI exposes all of ODE's objects data, network closed loop remote control optionally via Matlab/Simulink.
Khepera Simulator an open-source Windows simulator for the Khepera robot predating Webots.
Klamp't : a simulator introduced in 2013 specializing in stable trimesh-trimesh contact. Supports legged locomotion and manipulation.
LpzRobots: a 3D-physics robot simulator developed at the University of Leipzig.
miniBloq: This robot programing software for Arduino boards has a new simulator.
Moby: a rigid-body dynamics library written in C++.
OpenSim Simulator for articulated and wheeled robots with a wide range of characteristics. Further development stopped in the year 2006.
Robotics Toolbox for MATLAB is Free Software that provides functionality for representing pose (homogeneous transformations, Euler and RPY angles, quaternions), arm robots (forward/inverse kinematics, dynamics, simulation, animation) and mobile robots (control, localisation, planning and animation).
ARTE A Robotics Toolbox for Education (ARTE) is a Free Software educational tool based on Matlab. It provides functions to represent position and orientation. As well, includes functions to simulate robotic arms (direct/inverse kinematics, dynamics, path planning and more). The toolbox includes a large set of 3D robotic models that can be viewed and simulated inside a robotic cell.
Simbad 3d Robot Simulator Java based simulator
SimRobot: A robot simulator software package developed at the Universität Bremen and the German Research Center for Artificial Intelligence.
Stage: 2.5D simulator often used with Player to form the Player/Stage system. Part of the Player Project
STDR Simulator A simple, flexible and scalable 2D multi-robot simulator for use within Robot Operating System.
UCHILSIM: A physics based simulator for AIBO Robots introduced in RoboCup 2004.
UWSim : an UnderWater SIMulator for marine robotics research and development which incorporates sensor, dynamic and physics simulation.
Closed-source and proprietary simulators
anyKode Marilou
ORCA-Sim: a (Windows) 3D robot simulator using the Newton Game Dynamics physics engine.
Source from Wikipedia
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