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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37 views

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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18 views

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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1answer
218 views

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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7 views

Threading on Microsoft AirSim with Python Throws Type Error

Hope everyone is doing well. I have just started use AirSim for some computer vision simulations. Right now I am trying to implement threading for navigation purposes with Python. As a starting point,...
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1answer
92 views

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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25 views

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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107 views

How to combine URDF files in pybullet?

I have a URDF file for the Kinova Gen3 robotic arm (6 dof) and a URDF file for a suction end effector that was built for a UR5 arm. I am able to load the file for the arm along with a table and some ...
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67 views

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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1answer
73 views

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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41 views

How to connect to a kinova gen3 arm in gazebo through MATLAB and ROS?

I want to simulate a kinova gen3 arm in Gazebo through MATLAB and ROS. I am using a windows laptop which is running MATLAB natively, and I am running ROS and Gazebo via a virtual machine. I have ...
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1answer
267 views

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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176 views

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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3answers
100 views

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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Proteus simulation keep on looping forever

I have a simple proteus circuit simulation with a PIC18 chip and LED connected to RD0 port with a resistor. My objective is to make the LED blink once only when i start the simulation and the ...
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2answers
119 views

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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513 views

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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1answer
225 views

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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1answer
43 views

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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31 views

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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1answer
32 views

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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1answer
57 views

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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73 views

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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119 views

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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1answer
108 views

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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1answer
585 views

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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23 views

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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81 views

Simulating sensor readings based on an existing Alan Variance Analysis

My goal is to model an accelerometer and a gyroscope based on real hardware. I understand deterministic errors like bias and scaling but the different types of non-deterministic errors are difficult. ...
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111 views

How can I modeling a simple haptic interface system to obtain results similar to the paper “Time-Domain Passivity Control of Haptic Interfaces”?

I am trying to simulate the experiments in the paper "Time-Domain Passivity Control of Haptic Interfaces", Hanaford and Ryu, 2002, IEEE transactions on robotics and automation vol .18, No1 about the ...
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1answer
45 views

ROS sensor implementation

From this page, there are lots of sensors to be used in ros robots. http://wiki.ros.org/Sensors But, I could not install any of them to the robots in my simulations. For example, I want to install the ...
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51 views

Data collected from ROS

How can we collect the flight data after a ROS simulation and what kind of dataset do we obtain? Can we get the sensor and video dataset with timestamps to be used in analysis?
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2answers
115 views

Inverse Kinematics for 4 legged robots and body translation

The prompt here is to implement the IK on a real robot with constraints. I started off with writing the DH-Table. $\begin{bmatrix}n & a_{i-1} & \alpha_{i-1} & d_i & \theta_i \\1 & ...
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70 views

Free 2 and 3d simulators [closed]

What physics simulators exist which are open source/free? AI Gym uses a proprietary for-cost physics engine making it nonviable.
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95 views

How to simulate a quadcopter using robotics simulator?

I am building my own autonomous quadcopter. I wish to simulate it using V-REP/Gazebo in order to tune the flight controller. I see that there are inbuilt models but they have properties(physical ...
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2answers
116 views

What Software Is Used For Autonomy Software Simulation?

I don't have a physical robot but I would like to test the performance of my C++ code for odometry, SLAM, and path planning. Are there any good simulation software where I can test my algorithm ...
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3answers
102 views

What is the best way to simulate a robotic arm?

I have been working on a senior design project. In this project, we designed a 4-DOF robot arm. Now, I want to do a simulation for this system. I guess I have to design controllers for the servo ...
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1answer
49 views

Cannot get 3 DOF bicycle model to run correctly

I'm trying to simulate a vehicle using a dynamic bicycle model but I cannot seem to get it working. If I set a constant steering angle the lateral velocity grows exponentially and creates impossible ...
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1answer
39 views

All Joint Angle values not converging to desired set point (I am using Roy Featherstone's Spatial Toolbox)

I need the robot joint angles to become the same as given (desired) joint angles. The kinematics and dynamics (used Spatial Toolbox) are correct and the motor models are realistic too. But out of 3 ...
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1answer
89 views

Forward Kinematics of non-planar robot using Roy Featherstone's Spatial Toolbox

I have a non-floatbase 3 DOF non-planar robot whose forward kinematics I need to compute using Spatial Toolbox. The code for this purpose is p = fbkin(q) but as my ...
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1answer
50 views

Non-planar robot Dynamics error using Roy Featherstone's Spatial toolbox

I am using this code to test robot dynamics of above robot using Spatial Toolbox function: FDab(rob, [0;0;0], [0;0;0], [0;0;0]) %a_grav = [0,0,-9.81] But it ...
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1answer
51 views

Roy Featherstone toolbox robot model

I want to model these D-H parameters in spatial toolbox: Link: alpha, a, theta, d Link 1 : -90 0 theta1* d1 Link 2 : 0 a2 ...
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1answer
112 views

Simulating a robot

I try to simulate a robot, but with a GUI. I can make a simulation using pyopengl to simulate the movement of robot, but I cannot make the GUI with that. I need to make it easier to simulate, analyze, ...
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1answer
670 views

Gazebo: SetPosition() function in the Joint class doesn't set the joint position and returns false sometimes

I am trying to initialize the positions of my robot using Gazebo Plugins. SetPosition() function of the Joint class is supposed ...
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1answer
53 views

Artificial Intelligence and Open source pipeline for automated design, simulation and analysis of robotics systems

I have heard about open source 3D printed robotics projects (https://www.poppy-project.org/en/ is somehow obsolete example). My question is - are there open source holistic/integrated frameworks of ...
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1answer
399 views

Inverse Jacobian to find joint angles

I am trying to implement a joint space control with the UR5 in MATLAB/Simulink and have programmed the forward kinematics of the same. Now, I want to find out the joint angles of the manipulator using ...
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3answers
461 views

Any slam simulator without using ROS?

I found there are STDR and Stage simulators on ROS for SLAM and mobile robot simulation. But I’m trying to run simulations on my laptop that has really limited space, when I tried to install Stage, it ...
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31 views

How to add some more feature for this simulink model

After some research Robotic hand simulation in MatLab? After some motivation, I have tried to go inside Matlab Simulink and was able to do this :- https://drive.google.com/open?id=...
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2answers
187 views

Robotic hand simulation in MatLab?

We are doing graduation project and require simulation of the robotic hand to be submitted. And we want to control various parameter in for movement for fingers of robotic hand. We tried it in other ...
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1answer
458 views

What is a Velocity Smoother?

I'm learning ROS and I have found an expression that I don't understand. I'm reading the book "Mastering ROS for Robotics Programming - Second Edition", and on a controller to move a robot using ...
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1answer
62 views

Is system identification and a physics engine the same?

In the control theory the term “system identification” is used quite often. A typical sentence in a robotics oriented paper is that the author is trying to “build a model of a plant with matlab”. The ...