Questions tagged [simulator]

A computer environment where robot parameters can be tested without the need for a physical robot.

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Manually generate antipodal grasps for grasping

I am getting into robot manipulation using parallel grippers, and am learning about it, and programming grasping different objects. I have the 3D model of the objects I wish to grasp. The next step is ...
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I'm trying to understand an equation from a motor simulation $\dot w_i (u_ i ​ ,w_i,l _i ​ , \dot l _ i ​ )$

I have a simulated motor and I'm not understanding the math to control it. This is the equation for the force of the motor, also called an 'actuator'. $\dot w_i (u_ i ​ ,w_i,l _i ​ , \dot l _ i ​ )$ w ...
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How would you sync a real life accelerometer with an accelerometer in a simulation program

How would you sync a real life accelerometer with an accelerometer in a simulation program. In this case I am using MuJoCo for simulation and a Gy-521 is my physical, real life accelerometer.
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What robotic simulators simulate the reflectivity of objects?

I want to simulate the reflectivity of objects in a simulation because I want to use a 2D laser scanner to detect certain objects that have higher reflectivity than other objects in a particular scene....
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How can I use the pen Node on my custom robot in webots?

I am starting to attempt a new project about a mechanical arm using a pen to draw random things as I move the robot's arm. so to do that Webots already has a node named "Pen" (Webots doc, ...
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In MuJoCo why do some XML files have objects fall to the ground while others are just fixed above the ground?

Why do some models, or objects in a MuJoCo XML script fall to the floor while others don't? In the models files that come with the MuJoCo zip, the robot arm (arm26) does not fall to the ground while ...
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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 generate a mesh file for URDF

Pybullet needs a mesh file to go along with URDF. Is there a non painful way how to generate one? Ideally I'd love to generate one from the URDF file itself, as it has all the boxed already defined ...
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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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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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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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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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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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4 votes
1 answer
101 views

3-DOF Robot Dynamics error in Robotics Toolbox

I am trying to compute dynamics of 3 DOF robot using Robotics Toolbox by executing this code: robot.accel(q, zeros(1,3), zeros(1,3)) But I am getting this error: ...
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Ontology/marketplace of robotics components and integration environment (BPEL or CAD for robotics)?

It should be possible to take the formal description of robotics components (in form of ontology, formal API descriptions or other kind of formal specification of the capabilities and requirements of ...
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2 answers
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"modern contact dynamics" - Why are spring-damper contact models not being used anymore for dynamic simulations in robotics?

While researching different physics engines for dynamic simulations in robotics I found the following statement on the MoJoCo documentation website: Physics engines have traditionally separated in ...
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1 answer
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How can I run Tests/Simulations of Control and Motion Planning for a Bare Metal Robot?

I am using a raspberry pi to practice low level development with a differential drive robot; bare metal without an OS underneath. I've gotten to the point where I have a very small, single purpose ...
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2 votes
0 answers
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VREP - Attaching Baxter manipulators

Trying to add manipulators to the VREP Baxter robot, I can add the gripper easily enough by adding the manipulator object in a scene to the appropriate arm tip and setting its position and rotation to ...
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Integrating Instantaneous Accelerations taken at discrete time intervals

I am trying to integrate instantaneous linear and angular acceleration taken at discrete time intervals (1/100 seconds, 100hz). data is collected beforehand, and integration is done offline, I only ...
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What criteria should be considered when comparing 2 robot simulation/modelling software?

I want to compare MapleSim (Maplesoft) to SimMechanics (Mathworks) what should my criteria of comparison be?
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What software can I use to 3d model and simulate my robot?

I would like to know if there is any software that I can 3d model my robot and insert that model into some sort of simulation software where I can run AI related code(in python). Any suggestions would ...
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2 answers
610 views

Validation of dh parameters

I am working on a concept of robotic arm for which I have fixed DH frames and parameters. Is there any way to validate the correctness of DH parameters and frames ?
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Unmanned guard boat [closed]

I need an urgent help in my graduation project on unmanned guard boat. I need to control the boat autonomously and manually using ArduPilot and Arduino Uno. I just ask if anyone has the code, that ...
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2 votes
2 answers
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Error in simmechanics matlab while doing inverse dynamics using custom joint

I am doing inverse dynamics in Matlab simmechanics in which position and orientation will be input to the end effector. But it shows error as below. Error originates in Mechanical block rob33/...
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Motion input in Simmechanics Matlab.

I have this figure in which motion is given to revolute joint in Simmechanics. In this, constant 2 is used and then integration is used. I want to know what will be effect of 2 here and how ...
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3 votes
2 answers
1k views

Does simulink accepts robotics toolbox in matlab?

I'm trying to make a model for a robotic arm on simulink and then excute it on arduino controller but i want also to use robotics toolbox to calculate forward and inverse kinematics so i need to add ...
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2 answers
484 views

Bullet vs ODE to simulate robotic arm [closed]

For a research project at university I have been tasked with simulating a "robot arm". The simulation is to be compared with the real life version for accuracy. The arm will be lifting other objects ...
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4 votes
2 answers
152 views

Suggestion for relevant non-complex simulator

I've recently started working on some localization algorithms like probabilistic road map and SLAM algorithms. What I'm looking for is a software that would help me in simulation for such algorithms. ...
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1 vote
1 answer
994 views

What is the most realistic grasping simulator? [closed]

I am looking for a physics simulator which can accurately model a robot hand picking up an object. The main requirement is for accuracy / realism, rather than speed. It needs to be able to model soft ...
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1 vote
2 answers
752 views

Computer stereo vision simulator

In my research project I deal with a mobile robot that perceives through stereo vision. As the stereo input data I currently use several datasets taken from a passenger vehicle that contain real world ...
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3k views

Gazebo: moving joint with model plugin

This is my first week with Gazebo. The tutorials are clear (except for my dearth of C++ knowledge) but now that I'm working to move out on my own things are getting cloudy. I made a model comprising ...
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812 views

Gazebo or SimMechanics

I'm now considering to choose Gazebo or SimMechanics for simulating my quadruped robot. I set some standards for the simulation: Support Real-time application with ROS Simulate contact impact well(...
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Recommendation for 3D mechanism modeling and simulation software

I'm working on a robotic hand and I would like to simulate different joints and tendon insertion points before starting to actually build it. I've been googling and found things like Solidworks and ...
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1 answer
435 views

Are there any aerodynamics modeling/simulation software that is capable to consume a SolidWorks model and to interface with MATLAB/Simulink?

Currently I am developing a control system for an aircraft of a unique design (something in between a helicopter and a dirigible). At this moment I can model only the dynamics of this vehicle without ...
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964 views

Using Blob detection in V-Rep

I was trying to reproduce this youtube tutorial in V-rep and I came across some problems concerning blob detection. There are some complaints on this matter under the video. I don't believe that blob ...
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3 answers
89 views

Mathematical Moddeling of Elastic Robots [closed]

We can easily compute the rigid robot kinematics and dynamics. There is many resources, simulators and modelling tools about it. But i couldnt find any of these for elastic robots. Can you suggest ...
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4 votes
1 answer
1k views

Is it possible to simulate vision (perception) in Gazebo (or other simulators)

Vision is important part of robotics and frequently it is unavoidable component of control loop. E.g. many clothes/garment handling algorithms rely on visual cues in deciding how to proceed. The ...
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1 vote
1 answer
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Is anybody using robot simulators? [closed]

Do you use simulators for developing your robot algorithms or do you test directly in your robot? I would like to get introduced into the simulators world, but don't know from where to start... can ...
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10 votes
3 answers
2k views

Is ROS (Robot Operating System) mandatory?

Do we have to build ROS for robotic research/application? What is the main advantage? When or in which situations ROS is mandatory?
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1 vote
1 answer
175 views

Simulator for an adaptive, under-actuated robotic gripper

I am looking to build an adaptable robotic arm with under-actuated three (or four) fingered hands. Before I start shelling out money, I want to test my prototypes in a simulator which would ideally ...
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2 votes
2 answers
192 views

Good 3D simulator for outdoor autonomous navigation

What's an appropriate tool for simulating a car driving in a simple closed-loop racetrack? I'm trying to implement the control logic for an autonomous vehicle, and I'd like to be able to first ...
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2 votes
1 answer
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Choosing suitable simulator for a swarm of AUVs [closed]

Which of the following simulators is the best choice for simulating a swarm of AUVs working together to perform a mission? Please clarify your reason and if you know any better choice, I would greatly ...
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2 answers
3k views

gazebo import robot gives error

I'm trying to import the tutorial robot given at this link However this gives the following error: ...
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1 answer
492 views

tricopter simulation to test control algorithms

I am looking to write and test my own control algorithms for tricopter flight. I am looking for a simulator that can simulate a tricopter but at the level of receiving simulated PWM and returning ...
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1 vote
1 answer
83 views

Software to simulate mechanics of production line

Is there any software where I can simulate production line elements (joints, motors, springs, actuators, movement)? For example I want to simulate mechanism to unwind paper from big roll to weld it ...
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1 vote
4 answers
220 views

Manipulator link applied torque

I want to implement a manipulator link using a physic library. I can only apply some torque to the centre of mass, but the torque should be applied at the beginning of the link. Shifting a reference ...
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4 votes
1 answer
605 views

world files for simulating roads and tracks

Hello I wanted to simulate a busy urban road,similar to Darpa Urban Challenge for an autonomous self-driving-car. I'm in search of simulators for that. I've seen gazebo since its integration with ROS ...
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3 votes
3 answers
241 views

Using robotic simulator for prediction step in probabilistic localization approaches

Probabilistic localization approaches like Kalman or Monte Carlo benefit from an accurate prediction step. The more accurate the prediction step, the more accurate is the belief of the robots pose. In ...
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5 votes
1 answer
589 views

An architecture for testing autonomous flight and sensors

I'm designing a simple autopilot software on top of Ardupilot, my goal is to possibly interface an Raspi on top of ArduPilot Mega (APM). I am stuck on setting up a simulation environment using either ...
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6 votes
1 answer
291 views

Using Armatures in Morse Robotic Simulator

I'm trying to add my own robot in Morse 1.1 (using Ubuntu 12.04). I am struggling to add an armature actuator and armature pose sensor to an existing robot. Can someone please explain how this can be ...
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