Questions tagged [simulation]
Robotics simulators represent the world in software. They range in complexity from the simple and only operate in a top-down 2D world, or very complex with photo-realistic rendering and physics modeling.
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gazebo_ros_bumper outputs contact in other frame than the one specified
I want to simulate a simple force control scheme, namely:
$$ \tau = J^T F_{EE} $$
where $F_{EE}$ is the wedge from the end-effector to the environment. The base of my robot is at $(0,0,0)$ and i want ...
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Simulink and Arduino - Simulink can't read data from arduino pins
I have a very simple setup depicted by this picture
All I want to do is, using simulink, collect data from pin 8. Simulink model is as follows
However I'm not getting any data, specifically 0. I can ...
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Ros control pid gives different input than expected
I am trying to match the trajectory i am getting from gazebo simulation using ros_control and matlab for a simple pendulum which rotates in the horizontal plane (so no gravity, no friction and no ...
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UAV simulation of obstacle avoidance in Gazebo?
I would like to simulate some 3D path planning capabilities of an UAV in Gazebo. So Firstly, I download a point cloud of an outdoor area with obstacles. I can find any in internet.Than Load the point ...
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Gazebo Plugin not found
I am trying to simulate wind on gazebo garden on ubuntu 22.04. So, I found this plugin libgz-sim-wind-effects-system.so in my plugins path and included it as ...
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How to make specific link static?
I want to simulate a RR robot in gazebo and I want to place the first link over a box. This box shouldn't be a part of the simulation, and is there only for visual effect.
How can I make a specific ...
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Create A Half Cylinder in PyBullet
I would like to ask if it is possible to use the PyBullet function createCollisionShape to create a half cylinder in PyBullet? If so, how should I do that?
Or, is there any other function in PyBullet ...
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Gazebo Garden plugin and nested models?
I have a problem that I'm not able to solve with Gazebo Garden.
I wrote a System plugin that handles a stereo camera, I need a plugin to interface the simulator with our SDK.
Differently from Gazebo ...
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Webots: Increase Calculation Speed On Supercomputer
I am using a supercomputer (MSI, Minnesota Supercomputing Institute) to run my Webots simulations. However, on my own laptop (MacOS) the amount of time necessary to calculations is much shorter. I was ...
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How to make the output axis of hingejoint with rotational motor not affected by physics?
I want the rotational motors be affected only by my controller, not by the physics of the world. The problem is shown in this video. How to fix this?
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Retrieving the global 3d position of a robot or object in Webots
In the context of my simulation, I need to programmatically get the position of robots and objects in the world (in global coordinate system). How can this be done?
I'm using Webots R2023a.
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Definition of Collision Frame and Inertial Frame in PyBullet or Other Simulation Software
I am doing simulation of my robot with PyBullet now, but I guess this question applies to other simulation software as well.
When I am using the functions ...
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Is it possible to immobilize one part of a robot?
I need to fix one part of my robot to the static environment. Can this be done in Webots?
I'm using R2022b.
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Why is Webots running so slow on my computer?
The provided sample simulations are running very slowly in Webots. How can I improve this?
I am using Webots R2022b on Ubuntu 22.04.
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Read device value from another robot controller in Webots
I'm using Webots R2022b and I would like to have a supervisor controller that applies an algorithm on the camera data recorded by the Mavic2Pro drone on an another robot.
But, when calling the ...
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How to import 3D models in Webots?
I have 3D models with UV mapping and textures in Blender and I would like to import them in Webots. Can you please recommend the best way to do this?
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Programmatically set joint friction in Gazebo Fortress (previosly Ignition Fortress)
I have a plugin for classic Gazebo to control a vehicle that used the solution from the following question to implement braking:
https://answers.gazebosim.org/question/16442/how-to-programatically-set-...
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Simulate GPS IMU With Quadcopter Swarm?
I have multiple drones work in swarm formation, i made the quadcopter model and the swarm one. Until now i have the swarm moving in a formation leader-follower and track a predefined trajectory based ...
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AWS RoboMaker simulations + testing explained
I am trying to understand how AWS RoboMaker and WorldForge work, and am having trouble "seeing the forest through the trees," and might need someone to "explain it to me like I'm 5"...
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Simulator that allows your to test your real firmware inside a simulated world?
I am interested in learning more about how robotics are tested in simulators. Reading the Wikipedia article on robotics simulators I can't tell how the onboard firmware (the "brains" of the ...
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What is the format and required content to define a Joint trajectory using the RoboAnalyzer simulator?
I'm trying to learn how to use the Roboanalyzer simulation tool to model and then display the torques required to pivot a 2 DoF arm. ( [http://www.roboanalyzer.com/][1] )
I see that the tool has a ...
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Is it possible to use coordinates to modify the floor into a polygon in Webots?
I'm using Webots to model an irregular polygon floor for a coverage problem. I want to define the floor using the coordinates of the vertices.
So far I have been able to generate an irregular polygon ...
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Simulating robotic swarm
I am playing around with swarm robotics and trying to figure out a way to simulate it. Here is my dilemma:
I am trying to simulate thousands of agents that will asynchronously communicate with local ...
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Robot Trajectory Control with MATLAB
I want to make a MATLAB (Simulink) simulation of the robot model shown above. However the input should be the sinx(t) function as a trajectory.
How could I integrate this sinx(t) function in Simulink ...
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Training Multiple Robots for different tasks at the same time using Deep Reinforcement Learning
I'm wondering if a single agent can train multiple robots to perform different tasks simultaneously. If possible, can you please recommend me some research papers and implementations that I can take a ...
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Solving pseudo inverse of Jacobian in Matlab/Octave
I'm attempting to create a simulation of a 3 (rotational) DOF robotic arm in 3D space. So far I've had success getting to the Jacobian. What seems to be the issue is that the pseudo inverse of the ...
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What inertial information can I get from a SolidWorks object for simulation in MuJoCo?
MuJoCo needs me to enter the position of the inertial frame and the diagonal of the inertial matrix, (if I understand correctly). I'm not sure how to get this information from SolidWorks.
This object ...
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Simulate Wind in Gazebo - physics_msgs
I am trying to simulate a drone inside an environment with constant wind. I have found a good plugin (link below) and I have done the following to integrate this plugin in my system:
include the ...
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Underwater Glider Obstacle Avoidance simulator
I am currently taking part in a project where a team is building an autonomous underwater glider with obstacle avoidance features.
However, since I do not have a background in Robotics (I am in ...
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How do you model a physical robot (diff drive) in python?
I am using PyGame to simulate the motion of a differential drive robot. So far, I have used the standard diff drive kinematics, multiplying by delta time, and I have the motion working as expected.
...
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Air Resistance Drag Force Calculation For Quadcopter
Hello there. Hope you are all doing well.
I have created a dynamic quadcopter model on Simulink and designed a controller for it. So far, everything is going well. However, since I am going to be ...
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Count number of collisions while navigating to goal
I have the navigation stack working in ROS Kinetic on my computer. In Stage ROS simulations, I can specify the goal and the robot navigates to it. I need to count the number of collisions (if any) ...
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Pose difference estimation in cartesian impedance control
I am trying to implement a cartesian impedance controller in simulation (gazebo + KDL). The method which I am using is the following:
Compute the EE pose from KDL's forward kinematics for the ...
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How to program to generate robot URDF(Serial manipulator) when having stl file of each link with Python
I've tried :
to use obj2udf library(PyPI) then It can generate 1 URDF per 1 STL(it doesn't work because I can't find how to program to change link name or add link and can't combine STL)
so now I ...
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How to reset odom positions of robots while setting initial positions of robots in gazebo simulation through launch file
I'm in the process of creating a coordination system for a multi robot system. For that i currently have created a ROS based simulation in gazebo using Rosbot2.0 (Robot physically available as well). ...
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Drone Development using ROS Noetic on Ubuntu 20.04
I installed ROS Noetic on Ubuntu Mate 20.04 in my Raspberry Pi but couldn't find any specific tutorial to follow along for Noetic. Most are available for Melodic, which doesn't work with the latest ...
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What is the best way to simulate Staubli robots inside a C++/C# app
A little bit of context : I want to create an app using C++ (or C#) to handle 3D objects (obj), I will perform some operations on those 3D models to create some robotic trajectories. Then I want to ...
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How do industrial robots solve the inverse kinematic problem?
I want to make a real-time end-effector position control simulation of a 6 DOF robotic arm. To do so, I should solve the inverse kinematic problem, but due to the complexity of calculations, it is ...
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Tried to advertise a service that is already advertised in this node [/leo/controller_manager/list_controllers]
I'm trying to do a multi agent simulation using leo_rover which is open source. I'm comfortable with single system, but when I add a second robot using namespaces i get the second robot spawned in the ...
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Gazebo freezes on vm after running roscore
I'm a beginner in ROS, since the learning curve for ROS is steep i decided to use a book to learn how to use ros ([ROS Robotics Projects - Second Edition][1]). I'm currently on the third chapter. I'm ...
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How do I compute the feedforward terms in a control law using Matlab?
I have the following situation. I have computed the linear and angular velocity which are the controls for a mobile robot, which have the form:
$v_d=v_{fb}+v_{ff}$
$\omega_d=\omega_{fb}+\omega_{ff}$
...
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Reinforcement train butterfly robot in virtual reality?
Suppose I want to train butterfly robot with reinforcement learning. So I need physically correct simulation of aerodynamics and material physics (because butterfly wings should bend etc). Also I ...
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I'm looking for a simplified control scheme for a game-rendered robotic arm
I'm a programmer, but not savvy with robotics (to lay a baseline for my lack of knowledge). I have a game-simulated arm that allows me to set joint angles which it will automatically move the joints ...
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My Pick and Place Program Not Working
hope you are all well.
I am trying to finish a capstone project on Coursera. It asks me to carry a cube object from an initial position to goal. This video shows the movement.
Project website: http://...
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How do I call Matlab code into Simulink for doing a simulation for doing plots?
I have built a simulink model for performing cartesian regulation on a unicycle:
and plot the results with a Matlab code
but, I am not very confident with Simulink and so I don't know how to call ...
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error with dimensions in Simulink
I am trying to simulate a cartesian regulator for a unicycle with Simulink and I am having some problems.
My simulink model is the following:
and when I run it I get the following error message:
so ...
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Simulation of Robotic arm
I want to simulate my 5 DOF robotic arm, in such a way that the calculated Torque and mass values of each joints (Servos) defined to be tested that are they capable of physically bear all the weight ...
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Simulator for NEMA17 (stepper motor) and A4988 (stepper motor driver) along with Arduino
I want to simulate an Arduino MEGA (or UNO) controlling a NEMA17 (stepper motor) using A4988 (stepper motor driver). I couldn't find the stepper motor and driver on TinkerCAD. Can this be done in ...
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How to do a relative rotation of a cuboid such that the longest edge is upright?
I am using pybullet.
I have a cuboid with half extents [4,2,1] corresponding to x,y,z dimensions. I rotate this cuboid around the z world axis theta and also translate it by [0, 0, .65].
I take a ...
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Compute absolute position of obstacle in V-Rep from proximity sensor measurement
all. I am trying to construct the map of the environment by using the measurements from the proximity sensor in V-Rep. I have absolute position of the robot. So, I know the X1, Y1 coordinates of the ...
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