Robotics simulator
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A robotics simulator is a simulator used to create an application for a physical robot without depending on the physical machine, thus saving cost and time. In some case, such applications can be transferred onto a physical robot (or rebuilt) without modification.
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 biotic in nature when compared to simulators that are more binary, or computational. Also, behavior-based simulators may learn from mistakes and can demonstrate 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 can emulate the motion of a physical 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 to develop a robotics control program is highly recommended regardless of whether a physical 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 a physical robot. This applies mainly to industrial robotic applications, since the success of off-line programming depends on how similar the physical environment of a robot is to a simulated environment.
Sensor-based robot actions are much more difficult to simulate and/or to program off-line, since the robot motion depends on instantaneous sensor readings in the real world.
Features
[edit]Modern simulators tend to provide the following features:
- Fast robot prototyping:
- Using the own simulator as creation tool
- Using external tools
- Physics engines for realistic movements: Most simulators use Bullet, ODE or PhysX.
- 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, and MATLAB languages used by Webots; C++ used by Gazebo.
Simulators
[edit]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 visualized in a three-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
[edit]| Software | Developers | Development status | License | 3D rendering engine | Physics engine | 3D modeller | Platforms supported |
|---|---|---|---|---|---|---|---|
| Gazebo | Open Source Robotics Foundation (OSRF) | Active | Apache 2.0 | OGRE | ODE, Bullet, Simbody, DART | Internal | Linux, macOS, Windows |
| RoboDK | RoboDK | Active | Proprietary | OpenGL | Gravity plug-in | Internal | Linux, macOS, Windows, Android, iOS, Debian |
| SimSpark | O. Obst et al. (+26) | Active | GNU GPL (v2) | Internal | ODE | None | Linux, macOS, Windows |
| Webots | Cyberbotics Ltd. | Active | Apache 2.0 | Internal (WREN) | Fork of ODE | Internal | Linux, macOS, Windows |
| OpenRAVE | OpenRAVE Community | Active | GNU LGPL | Coin3D, OpenSceneGraph | ODE, Bullet | Internal | Linux, macOS, Windows |
| CoppeliaSim | Coppelia Robotics | Active | Dual: commercial, GNU GPL | Internal | MuJoCo, Bullet, ODE, Vortex, Newton | Internal | Linux, macOS, Windows |
| ENCY Robot[1][2] | ENCY Software | Active | Proprietary | – | – | – | Windows[3] |
| Software | Developers | Development status | License | 3D rendering engine | Physics engine | 3D modeller | Platforms supported |
Technical information
[edit]| Software | Main programming language | Formats support | Extensibility | External APIs | Robotics middleware support | Primary user interface | Headless simulation |
|---|---|---|---|---|---|---|---|
| Gazebo | C++ | SDF[4]/URDF,[5] OBJ, STL, COLLADA | Plug-ins (C++) | C++ | ROS, Player, sockets (protobuf messages) | GUI | Yes |
| RoboDK | Python | SLDPRT, SLDASM, STEP, OBJ, STL, 3DS, COLLADA, VRML, Robot Operating System URDF, Rhinoceros 3D, ... | API,[6] Plug-In Interface[7] | Python, C/C++, C#, Matlab, ... | Socket | GUI | Yes |
| SimSpark | C++, Ruby | Ruby Scene Graphs | Mods (C++) | Network (sexpr) | Sockets (sexpr) | GUI, sockets | Unknown |
| Webots | C++ | WBT, VRML, X3D, 3DS, Blender, BVH, COLLADA, FBX, STL, OBJ, URDF | API, PROTOs, plug-ins (C/C++) | C, C++, Python, Java, Matlab, ROS | Sockets, ROS, NaoQI | GUI | Yes[8] |
| OpenRAVE | C++, Python | XML, VRML, OBJ, COLLADA | Plug-ins (C++), API | C/C++, Python, Matlab | Sockets, ROS, YARP | GUI, sockets | Yes |
| CoppeliaSim | C++, Python, Lua | 3DS, Blender, COLLADA, STL, OBJ, URDF, SDF, GLTF, XML | Plug-ins (C/C++), embedded scripts (Python, Lua), remote API (C, C++, Python, Java, MATLAB, Octave), add-ons (Python, Lua) | C, C++, Python, Java, MATLAB, Octave, ROS, ROS 2.0 | Sockets, ROS, ROS 2.0, ZeroMQ | GUI | Yes |
| Software | Main programming language | Formats support | Extensibility | External APIs | Robotic middleware support | Primary user interface | Headless simulation |
Infrastructure
[edit]Support
[edit]| Software | Mailing list | API documentation | Public forum, help system | User manual | Issue tracker | Wiki | Chat |
|---|---|---|---|---|---|---|---|
| Gazebo | Yes[9] | Yes[10] | Yes[11] | Yes[12] | Yes[13] | No | |
| RoboDK | Yes[14] | Yes[15] | Yes[16] | Yes[17] | Yes[18] | No | Unknown |
| SimSpark | Yes[19] | Yes[20] | No | Yes[21] | Yes[22] | Yes[23] | Unknown |
| Webots | No | Yes[24] | Yes[25] | Yes[26] | Yes[27] | Yes[28] | Yes[29] |
| OpenRAVE | Yes[30] | Yes[31] | Yes[32] | Yes[33] | Yes[32] | Yes[34] | Unknown |
| CoppeliaSim | No | Yes[35] | Yes[36] | Yes[37] | Yes[38] | Unknown | No |
| Software | Mailing list | API documentation | Public forum, help system | User manual | Issue tracker | Wiki |
Code quality
[edit]| Software | Static code checker | Style checker | Test system(s) | Test function coverage | Test branch coverage | Lines of code | Lines of comments | Continuous integration |
|---|---|---|---|---|---|---|---|---|
| Gazebo | cppcheck[39] | cpplint[39] | gtest and qtest[39] | 77.0%[39] | 53.3%[39] | 320k[39] | 106k[39] | Jenkins[39] |
| RoboDK | Unknown | Unknown | Unknown | Unknown | Unknown | Unknown | Unknown | Unknown |
| SimSpark | Unknown | Unknown | Unknown | Unknown | Unknown | Unknown | Unknown | Unknown |
| Webots | cppcheck[40] | clang-format[41] | unit tests[42] | 100% of API functions[43] | master,[44] develop[45] | ~200k | ~50k | GitHub Actions |
| OpenRAVE | Unknown | Unknown | Python nose | Unknown | Unknown | Unknown | Unknown | Jenkins[46] |
| CoppeliaSim | Unknown | Unknown | Unknown | Unknown | Unknown | Unknown | Unknown | Unknown |
| Software | Static code checker | Style checker | Test system(s) | Test function coverage | Test branch coverage | Lines of code | Lines of comments | Continuous integration |
Features
[edit]| Software | CAD to motion | Dynamic collision avoidance | Relative end effectors | Off-line programming | Real-time streaming control of hardware |
|---|---|---|---|---|---|
| Gazebo | Unknown | Yes | Yes | Yes | Yes |
| RoboDK | Yes | Yes | Yes | Yes | Yes |
| SimSpark | Unknown | No | Unknown | No | No |
| Webots | Unknown | Yes | Yes | Yes | Yes |
| OpenRAVE | Unknown | No | Unknown | No | No |
| CoppeliaSim | Unknown | Yes | Yes | Yes | Yes |
| Software | CAD to motion | Dynamic collision avoidance | Relative end effectors | Off-line programming | Real-time streaming control |
Robot families
[edit]| Software | UGV (ground mobile robot) | UAV (aerial robots) | AUV (underwater robots) | Robotic arms | Robotic hands (grasping simulation) | Humanoid robots | Human avatars | Full list |
|---|---|---|---|---|---|---|---|---|
| Gazebo | Yes[47] | Yes[48] | Yes[49] | Yes[50] | Yes[51] | Yes[52] | Yes[53] | |
| RoboDK | No | No | No | Yes[54] | No | No | No | Yes[54] |
| SimSpark | Yes | No | No | Maybe | Maybe | Yes | No | |
| Webots | Yes | Yes | Yes[55] | Yes | Yes | Yes[56] | Yes | Yes[57] |
| OpenRAVE | Yes | Unknown | Unknown | Yes | Yes | Yes | Yes | |
| CoppeliaSim | Yes | Yes | Yes | Yes | Yes | Yes | Yes | Yes[58] |
| 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
[edit]| Software | Generic kinematic chains | Force-controlled motion | Full list | Circular kinematic chains | Kinematically redundant chains | Bifurcated kinematic chains |
|---|---|---|---|---|---|---|
| Gazebo | Yes | Yes | Yes | Yes | Yes | |
| RoboDK | Unknown | Unknown | Unknown | Unknown | Unknown | |
| SimSpark | Yes | No | SimSpark effectors | Unknown | Unknown | Unknown |
| Webots | Yes | Yes | Webots actuators | Yes | Yes | Yes |
| OpenRAVE | Yes | Yes | Joints,Extra Actuators | Yes[59] | Yes | Yes[60] |
| CoppeliaSim | Yes | Yes | Yes | Yes | Yes | |
| Software | Generic kinematic chains | Force-controlled motion | Full list | Circular kinematic chains | Kinematically redundant chains | Bifurcated kinematic chains |
Supported sensors
[edit]| Software | Odometry | IMU | Collision | GPS | Monocular cameras | Stereo cameras | Depth cameras | Omnidirectional cameras | 2D laser scanners | 3D laser scanners | Full list |
|---|---|---|---|---|---|---|---|---|---|---|---|
| Gazebo | Yes | Yes | Yes[61] | Yes | Yes[62] | Yes | Yes | Yes | Yes[63] | Yes[63] | |
| RoboDK | Unknown | Unknown | Unknown | Unknown | Unknown | Yes | Yes | Yes | Yes | Yes | |
| SimSpark | Yes | Yes | Yes[64] | Partial[65] | Yes | Partial | Unknown | Unknown | No | No | SimSpark perceptors |
| Webots | Yes | Yes | Yes | Yes | Yes | Yes | Yes | Yes | Yes | Yes | Webots sensors |
| OpenRAVE | Yes | Yes | Yes | Yes | Yes | Yes | Yes | Unknown | Yes | Yes | |
| CoppeliaSim | Yes | Yes | Yes | Yes | Yes | Yes | Yes | Yes | Yes | Yes | |
| Software | Odometry | IMU | Collision | GPS | Monocular cameras | Stereo cameras | Depth cameras | Omnidirectional cameras | 2D laser scanners | 3D laser scanners | Full list |
References
[edit]- ^ "ENCY Software, DAMRC partner for robotic machining technologies". Engineering.com. 2025-03-17. Retrieved 2025-09-26.
- ^ "Cooperation between ENCY Software and DAMRC: Advances in robot-assisted machining". 3Printr. 2025-03-17. Retrieved 2025-09-26.
- ^ "Download ENCY CAD/CAM Software". encycam.com. Retrieved 2025-09-26.
- ^ OSRF. "SDF". sdformat.org. Retrieved 2019-04-27.
- ^ "urdf - ROS Wiki". wiki.ros.org. Retrieved 2017-10-06.
- ^ "RoboDK API". GitHub. 22 October 2021.
- ^ "RoboDK Plug-In Interface". GitHub. 16 October 2021.
- ^ However, requires a connection on an X server for 3D rendering
- ^ "Gazebo Community". Retrieved 2019-04-27.
- ^ "Gazebo API". Gazebo Community. Retrieved 2019-04-27.
- ^ "Gazebo Answers". Gazebo Community. Retrieved 2019-04-27.
- ^ "Gazebo Tutorials". Gazebo Community. Retrieved 2019-04-27.
- ^ "Gazebo Issue Tracker". Gazebo Community. Retrieved 2019-04-27.
- ^ RoboDK mailing list
- ^ RoboDK API Documentation
- ^ RoboDK Forum
- ^ RoboDK Documentation
- ^ RoboDK Bug tracker
- ^ SimSpark mailing lists
- ^ "SimSpark client protocols". Archived from the original on 2016-02-25. Retrieved 2015-04-08.
- ^ "SimSpark user manual (Wiki)". Archived from the original on 2015-02-25. Retrieved 2015-04-08.
- ^ SimSpark Tracker
- ^ SimSpark Wiki[permanent dead link]
- ^ Webots Reference Manual
- ^ "Discussions · cyberbotics/Webots". GitHub.
- ^ Webots User Guide
- ^ Webots issues on GitHub
- ^ Webots technical wiki on GitHub
- ^ Webots Discord channel
- ^ OpenRAVE mailing list
- ^ OpenRAVE API
- ^ a b OpenRAVE Issue Tracker
- ^ OpenRAVE User Guide
- ^ OpenRAVE Wiki
- ^ CoppeliaSim API
- ^ Coppelia Robotics Forum
- ^ CoppeliaSim User Manual
- ^ Coppelia Robotics bug reports
- ^ a b c d e f g h OSRF. "Gazebo". gazebosim.org. Retrieved 2019-04-27.
- ^ CppCheck
- ^ Clang Format
- ^ Unit tests
- ^ API tests
- ^ Webots master
- ^ Webots develop
- ^ Source
- ^ OSRF. "Gazebo : Tutorial : Beginner: Model Editor". gazebosim.org. Retrieved 2019-04-27.
- ^ OSRF. "Gazebo : Tutorial : Aerodynamics". gazebosim.org. Retrieved 2019-04-27.
- ^ OSRF. "Gazebo : Tutorial : Hydrodynamics". gazebosim.org. Retrieved 2019-04-27.
- ^ OSRF. "Gazebo : ARIAC". gazebosim.org. Retrieved 2019-04-27.
- ^ OSRF. "Gazebo : HAPTIX". gazebosim.org. Retrieved 2019-04-27.
- ^ "DARPA's legacy: Open source simulation for robotics development and testing". Robohub.org. Retrieved 2019-04-27.
- ^ OSRF. "Gazebo : Tutorial : Make an animated model (actor)". gazebosim.org. Retrieved 2019-04-27.
- ^ a b RoboDK robot library
- ^ including Salamander robot
- ^ including Nao, DARwIn-OP, Fujitsu HOAP2, Kondo KHR-2HV, KHR-3, etc.
- ^ Webots robot models
- ^ CoppeliaSim main features
- ^ OpenRAVE Closed chains
- ^ OpenRAVE Dual-arm example
- ^ OSRF. "Gazebo : Tutorial : Contact Sensor". gazebosim.org. Retrieved 2019-04-27.
- ^ OSRF. "Gazebo : Tutorial : Camera Distortion". gazebosim.org. Retrieved 2019-04-27.
- ^ a b OSRF. "Gazebo : Tutorial : Intermediate: Velodyne". gazebosim.org. Retrieved 2019-04-27.
- ^ Collision detection uses a simplified model
- ^ Possible, no model for noise
| Main articles | ||
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| Types | ||
| Classifications | ||
| Locomotion | ||
| Navigation and mapping | ||
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| Companies | ||
| Related | ||
A robotics simulator is a simulator used to create an application for a physical robot without depending on the physical machine, thus saving cost and time. In some case, such applications can be transferred onto a physical robot (or rebuilt) without modification.
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 biotic in nature when compared to simulators that are more binary, or computational. Also, behavior-based simulators may learn from mistakes and can demonstrate 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 can emulate the motion of a physical 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 to develop a robotics control program is highly recommended regardless of whether a physical 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 a physical robot. This applies mainly to industrial robotic applications, since the success of off-line programming depends on how similar the physical environment of a robot is to a simulated environment.
Sensor-based robot actions are much more difficult to simulate and/or to program off-line, since the robot motion depends on 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
- Using external tools
- Physics engines for realistic movements: Most simulators use Bullet, ODE or PhysX.
- 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, and MATLAB languages used by Webots; C++ 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 visualized in a three-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 |
|---|---|---|---|---|---|---|---|
| Gazebo | Open Source Robotics Foundation (OSRF) | Active | Apache 2.0 | OGRE | ODE, Bullet, Simbody, DART | Internal | Linux, macOS, Windows |
| RoboDK | RoboDK | Active | Proprietary | OpenGL | Gravity plug-in | Internal | Linux, macOS, Windows, Android, iOS, Debian |
| SimSpark | O. Obst et al. (+26) | Active | GNU GPL (v2) | Internal | ODE | None | Linux, macOS, Windows |
| Webots | Cyberbotics Ltd. | Active | Apache 2.0 | Internal (WREN) | Fork of ODE | Internal | Linux, macOS, Windows |
| OpenRAVE | OpenRAVE Community | Active | GNU LGPL | Coin3D, OpenSceneGraph | ODE, Bullet | Internal | Linux, macOS, Windows |
| CoppeliaSim | Coppelia Robotics | Active | Dual: commercial, GNU GPL | Internal | MuJoCo, Bullet, ODE, Vortex, Newton | Internal | Linux, macOS, Windows |
| ENCY Robot[1][2] | ENCY Software | Active | Proprietary | – | – | – | Windows[3] |
| 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 |
|---|---|---|---|---|---|---|---|
| Gazebo | C++ | SDF[4]/URDF,[5] OBJ, STL, COLLADA | Plug-ins (C++) | C++ | ROS, Player, sockets (protobuf messages) | GUI | Yes |
| RoboDK | Python | SLDPRT, SLDASM, STEP, OBJ, STL, 3DS, COLLADA, VRML, Robot Operating System URDF, Rhinoceros 3D, ... | API,[6] Plug-In Interface[7] | Python, C/C++, C#, Matlab, ... | Socket | GUI | Yes |
| SimSpark | C++, Ruby | Ruby Scene Graphs | Mods (C++) | Network (sexpr) | Sockets (sexpr) | GUI, sockets | Unknown |
| Webots | C++ | WBT, VRML, X3D, 3DS, Blender, BVH, COLLADA, FBX, STL, OBJ, URDF | API, PROTOs, plug-ins (C/C++) | C, C++, Python, Java, Matlab, ROS | Sockets, ROS, NaoQI | GUI | Yes[8] |
| OpenRAVE | C++, Python | XML, VRML, OBJ, COLLADA | Plug-ins (C++), API | C/C++, Python, Matlab | Sockets, ROS, YARP | GUI, sockets | Yes |
| CoppeliaSim | C++, Python, Lua | 3DS, Blender, COLLADA, STL, OBJ, URDF, SDF, GLTF, XML | Plug-ins (C/C++), embedded scripts (Python, Lua), remote API (C, C++, Python, Java, MATLAB, Octave), add-ons (Python, Lua) | C, C++, Python, Java, MATLAB, Octave, ROS, ROS 2.0 | Sockets, ROS, ROS 2.0, ZeroMQ | GUI | 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 | Chat |
|---|---|---|---|---|---|---|---|
| Gazebo | Yes[9] | Yes[10] | Yes[11] | Yes[12] | Yes[13] | No | |
| RoboDK | Yes[14] | Yes[15] | Yes[16] | Yes[17] | Yes[18] | No | Unknown |
| SimSpark | Yes[19] | Yes[20] | No | Yes[21] | Yes[22] | Yes[23] | Unknown |
| Webots | No | Yes[24] | Yes[25] | Yes[26] | Yes[27] | Yes[28] | Yes[29] |
| OpenRAVE | Yes[30] | Yes[31] | Yes[32] | Yes[33] | Yes[32] | Yes[34] | Unknown |
| CoppeliaSim | No | Yes[35] | Yes[36] | Yes[37] | Yes[38] | Unknown | No |
| 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 |
|---|---|---|---|---|---|---|---|---|
| Gazebo | cppcheck[39] | cpplint[39] | gtest and qtest[39] | 77.0%[39] | 53.3%[39] | 320k[39] | 106k[39] | Jenkins[39] |
| RoboDK | Unknown | Unknown | Unknown | Unknown | Unknown | Unknown | Unknown | Unknown |
| SimSpark | Unknown | Unknown | Unknown | Unknown | Unknown | Unknown | Unknown | Unknown |
| Webots | cppcheck[40] | clang-format[41] | unit tests[42] | 100% of API functions[43] | master,[44] develop[45] | ~200k | ~50k | GitHub Actions |
| OpenRAVE | Unknown | Unknown | Python nose | Unknown | Unknown | Unknown | Unknown | Jenkins[46] |
| CoppeliaSim | Unknown | Unknown | Unknown | Unknown | Unknown | Unknown | Unknown | Unknown |
| 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 |
|---|---|---|---|---|---|
| Gazebo | Unknown | Yes | Yes | Yes | Yes |
| RoboDK | Yes | Yes | Yes | Yes | Yes |
| SimSpark | Unknown | No | Unknown | No | No |
| Webots | Unknown | Yes | Yes | Yes | Yes |
| OpenRAVE | Unknown | No | Unknown | No | No |
| CoppeliaSim | Unknown | Yes | Yes | Yes | Yes |
| Software | CAD to motion | Dynamic collision avoidance | Relative end effectors | Off-line programming | Real-time streaming control |
Robot families
| Software | UGV (ground mobile robot) | UAV (aerial robots) | AUV (underwater robots) | Robotic arms | Robotic hands (grasping simulation) | Humanoid robots | Human avatars | Full list |
|---|---|---|---|---|---|---|---|---|
| Gazebo | Yes[47] | Yes[48] | Yes[49] | Yes[50] | Yes[51] | Yes[52] | Yes[53] | |
| RoboDK | No | No | No | Yes[54] | No | No | No | Yes[54] |
| SimSpark | Yes | No | No | Maybe | Maybe | Yes | No | |
| Webots | Yes | Yes | Yes[55] | Yes | Yes | Yes[56] | Yes | Yes[57] |
| OpenRAVE | Yes | Unknown | Unknown | Yes | Yes | Yes | Yes | |
| CoppeliaSim | Yes | Yes | Yes | Yes | Yes | Yes | Yes | Yes[58] |
| 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 |
|---|---|---|---|---|---|---|
| Gazebo | Yes | Yes | Yes | Yes | Yes | |
| RoboDK | Unknown | Unknown | Unknown | Unknown | Unknown | |
| SimSpark | Yes | No | SimSpark effectors | Unknown | Unknown | Unknown |
| Webots | Yes | Yes | Webots actuators | Yes | Yes | Yes |
| OpenRAVE | Yes | Yes | Joints,Extra Actuators | Yes[59] | Yes | Yes[60] |
| CoppeliaSim | Yes | Yes | 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 |
|---|---|---|---|---|---|---|---|---|---|---|---|
| Gazebo | Yes | Yes | Yes[61] | Yes | Yes[62] | Yes | Yes | Yes | Yes[63] | Yes[63] | |
| RoboDK | Unknown | Unknown | Unknown | Unknown | Unknown | Yes | Yes | Yes | Yes | Yes | |
| SimSpark | Yes | Yes | Yes[64] | Partial[65] | Yes | Partial | Unknown | Unknown | No | No | SimSpark perceptors |
| Webots | Yes | Yes | Yes | Yes | Yes | Yes | Yes | Yes | Yes | Yes | Webots sensors |
| OpenRAVE | Yes | Yes | Yes | Yes | Yes | Yes | Yes | Unknown | Yes | Yes | |
| CoppeliaSim | Yes | Yes | Yes | Yes | Yes | Yes | Yes | Yes | Yes | Yes | |
| Software | Odometry | IMU | Collision | GPS | Monocular cameras | Stereo cameras | Depth cameras | Omnidirectional cameras | 2D laser scanners | 3D laser scanners | Full list |
References
- ^ "ENCY Software, DAMRC partner for robotic machining technologies". Engineering.com. 2025-03-17. Retrieved 2025-09-26.
- ^ "Cooperation between ENCY Software and DAMRC: Advances in robot-assisted machining". 3Printr. 2025-03-17. Retrieved 2025-09-26.
- ^ "Download ENCY CAD/CAM Software". encycam.com. Retrieved 2025-09-26.
- ^ OSRF. "SDF". sdformat.org. Retrieved 2019-04-27.
- ^ "urdf - ROS Wiki". wiki.ros.org. Retrieved 2017-10-06.
- ^ "RoboDK API". GitHub. 22 October 2021.
- ^ "RoboDK Plug-In Interface". GitHub. 16 October 2021.
- ^ However, requires a connection on an X server for 3D rendering
- ^ "Gazebo Community". Retrieved 2019-04-27.
- ^ "Gazebo API". Gazebo Community. Retrieved 2019-04-27.
- ^ "Gazebo Answers". Gazebo Community. Retrieved 2019-04-27.
- ^ "Gazebo Tutorials". Gazebo Community. Retrieved 2019-04-27.
- ^ "Gazebo Issue Tracker". Gazebo Community. Retrieved 2019-04-27.
- ^ RoboDK mailing list
- ^ RoboDK API Documentation
- ^ RoboDK Forum
- ^ RoboDK Documentation
- ^ RoboDK Bug tracker
- ^ SimSpark mailing lists
- ^ "SimSpark client protocols". Archived from the original on 2016-02-25. Retrieved 2015-04-08.
- ^ "SimSpark user manual (Wiki)". Archived from the original on 2015-02-25. Retrieved 2015-04-08.
- ^ SimSpark Tracker
- ^ SimSpark Wiki[permanent dead link]
- ^ Webots Reference Manual
- ^ "Discussions · cyberbotics/Webots". GitHub.
- ^ Webots User Guide
- ^ Webots issues on GitHub
- ^ Webots technical wiki on GitHub
- ^ Webots Discord channel
- ^ OpenRAVE mailing list
- ^ OpenRAVE API
- ^ a b OpenRAVE Issue Tracker
- ^ OpenRAVE User Guide
- ^ OpenRAVE Wiki
- ^ CoppeliaSim API
- ^ Coppelia Robotics Forum
- ^ CoppeliaSim User Manual
- ^ Coppelia Robotics bug reports
- ^ a b c d e f g h OSRF. "Gazebo". gazebosim.org. Retrieved 2019-04-27.
- ^ CppCheck
- ^ Clang Format
- ^ Unit tests
- ^ API tests
- ^ Webots master
- ^ Webots develop
- ^ Source
- ^ OSRF. "Gazebo : Tutorial : Beginner: Model Editor". gazebosim.org. Retrieved 2019-04-27.
- ^ OSRF. "Gazebo : Tutorial : Aerodynamics". gazebosim.org. Retrieved 2019-04-27.
- ^ OSRF. "Gazebo : Tutorial : Hydrodynamics". gazebosim.org. Retrieved 2019-04-27.
- ^ OSRF. "Gazebo : ARIAC". gazebosim.org. Retrieved 2019-04-27.
- ^ OSRF. "Gazebo : HAPTIX". gazebosim.org. Retrieved 2019-04-27.
- ^ "DARPA's legacy: Open source simulation for robotics development and testing". Robohub.org. Retrieved 2019-04-27.
- ^ OSRF. "Gazebo : Tutorial : Make an animated model (actor)". gazebosim.org. Retrieved 2019-04-27.
- ^ a b RoboDK robot library
- ^ including Salamander robot
- ^ including Nao, DARwIn-OP, Fujitsu HOAP2, Kondo KHR-2HV, KHR-3, etc.
- ^ Webots robot models
- ^ CoppeliaSim main features
- ^ OpenRAVE Closed chains
- ^ OpenRAVE Dual-arm example
- ^ OSRF. "Gazebo : Tutorial : Contact Sensor". gazebosim.org. Retrieved 2019-04-27.
- ^ OSRF. "Gazebo : Tutorial : Camera Distortion". gazebosim.org. Retrieved 2019-04-27.
- ^ a b OSRF. "Gazebo : Tutorial : Intermediate: Velodyne". gazebosim.org. Retrieved 2019-04-27.
- ^ Collision detection uses a simplified model
- ^ Possible, no model for noise
| Main articles | ||
|---|---|---|
| Types | ||
| Classifications | ||
| Locomotion | ||
| Navigation and mapping | ||
| Research | ||
| Companies | ||
| Related | ||
