Robotics simulator

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.

Robologix robotics simulator

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] ENCY Software Active Proprietary Internal (proprietary ENCY X platform)[2] – Internal (3D modeling)[3] Windows[4]
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[5]/URDF,[6] 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,[7] Plug-In Interface[8] 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[9]
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
ENCY Robot Delphi, C#, C++[10] IGES, STEP, STL, DXF, VRML, Rhinoceros (3DM), Parasolid (x_t/x_b), SolidWorks (SLDPRT/SLDASM), Solid Edge (PAR/PSM/ASM/PWR), PLY, AMF, JT, PLMXML (and others)[11]

Add-ins: Alibre Design, Autodesk Inventor, IronCAD, CADbro, CAXA 3D, FreeCAD, KeyCreator, Siemens NX, Rhinoceros, SolidCAM, SolidEdge, SOLIDWORKS, SpaceClaim, ZW3D, Onshape[12]

API; scripting[13] C#, Delphi, C++ (CAMIPC / IPC)[14] None GUI Yes[15]
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[16] Yes[17] Yes[18] Yes[19] Yes[20] No
RoboDK Yes[21] Yes[22] Yes[23] Yes[24] Yes[25] No Unknown
SimSpark Yes[26] Yes[27] No Yes[28] Yes[29] Yes[30] Unknown
Webots No Yes[31] Yes[32] Yes[33] Yes[34] Yes[35] Yes[36]
OpenRAVE Yes[37] Yes[38] Yes[39] Yes[40] Yes[39] Yes[41] Unknown
CoppeliaSim No Yes[42] Yes[43] Yes[44] Yes[45] Unknown No
ENCY Robot Yes[46] Yes[47] Yes Yes[48] Unknown No Yes[49]
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[50] cpplint[50] gtest and qtest[50] 77.0%[50] 53.3%[50] 320k[50] 106k[50] Jenkins[50]
RoboDK Unknown Unknown Unknown Unknown Unknown Unknown Unknown Unknown
SimSpark Unknown Unknown Unknown Unknown Unknown Unknown Unknown Unknown
Webots cppcheck[51] clang-format[52] unit tests[53] 100% of API functions[54] master,[55] develop[56] ~200k ~50k GitHub Actions
OpenRAVE Unknown Unknown Python nose Unknown Unknown Unknown Unknown Jenkins[57]
CoppeliaSim Unknown Unknown Unknown Unknown Unknown Unknown Unknown Unknown
ENCY Robot 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
ENCY Robot Yes[58] Yes[59] Yes (Tool-to-part / part-to-tool)[60] Yes[1] Yes (via ENCY Hyper real-time execution)[61]
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[62] Yes[63] Yes[64] Yes[65] Yes[66] Yes[67] Yes[68]
RoboDK No No No Yes[69] No No No Yes[69]
SimSpark Yes No No Maybe Maybe Yes No
Webots Yes Yes Yes[70] Yes Yes Yes[71] Yes Yes[72]
OpenRAVE Yes Unknown Unknown Yes Yes Yes Yes
CoppeliaSim Yes Yes Yes Yes Yes Yes Yes Yes[73]
ENCY Robot No No No Yes[74] No No No No
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[75] Yes Yes[76]
CoppeliaSim Yes Yes Yes Yes Yes
ENCY Robot Yes[77] No Unknown Yes (redundancy / external axes)[78] Unknown
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[79] Yes Yes[80] Yes Yes Yes Yes[81] Yes[81]
RoboDK Unknown Unknown Unknown Unknown Unknown Yes Yes Yes Yes Yes
SimSpark Yes Yes Yes[82] Partial[83] 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
ENCY Robot Unknown Unknown Yes[84] Unknown Unknown Unknown Unknown Unknown Unknown Unknown
Software Odometry IMU Collision GPS Monocular cameras Stereo cameras Depth cameras Omnidirectional cameras 2D laser scanners 3D laser scanners Full list

See also

References

  1. ^ a b "ENCY Robot: Offline robot programming solution". encycam.com. Retrieved 2026-01-07.
  2. ^ "ENCY: CAD/CAM software for a new generation". encycam.com. Retrieved 2026-01-07.
  3. ^ "ENCY Robot configurations (2D sketching, 3D modeling)". docs.encycam.com. Retrieved 2026-01-07.
  4. ^ "Program installation and launch (Windows)". docs.encycam.com. Retrieved 2026-01-07.
  5. ^ OSRF. "SDF". sdformat.org. Retrieved 2019-04-27.
  6. ^ "urdf - ROS Wiki". wiki.ros.org. Retrieved 2017-10-06.
  7. ^ "RoboDK API". GitHub. 22 October 2021.
  8. ^ "RoboDK Plug-In Interface". GitHub. 16 October 2021.
  9. ^ However, requires a connection on an X server for 3D rendering
  10. ^ "Supported programming languages (CAMAPI)". docs.encycam.com. Retrieved 2026-01-07.
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  12. ^ "Addin's list (ENCY Robot User Manual)". docs.encycam.com. Retrieved 2026-01-07.
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  14. ^ "Interaction with external applications (CAMIPC)". docs.encycam.com. Retrieved 2026-01-07.
  15. ^ "CAMIPC can open ENCY without any windows". docs.encycam.com. Retrieved 2026-01-07.
  16. ^ "Gazebo Community". Retrieved 2019-04-27.
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  20. ^ "Gazebo Issue Tracker". Gazebo Community. Retrieved 2019-04-27.
  21. ^ RoboDK mailing list
  22. ^ RoboDK API Documentation
  23. ^ RoboDK Forum
  24. ^ RoboDK Documentation
  25. ^ RoboDK Bug tracker
  26. ^ SimSpark mailing lists
  27. ^ "SimSpark client protocols". Archived from the original on 2016-02-25. Retrieved 2015-04-08.
  28. ^ "SimSpark user manual (Wiki)". Archived from the original on 2015-02-25. Retrieved 2015-04-08.
  29. ^ SimSpark Tracker
  30. ^ SimSpark Wiki[permanent dead link]
  31. ^ "Webots Reference Manual". Archived from the original on 2016-08-12. Retrieved 2022-09-12.
  32. ^ "Discussions · cyberbotics/Webots". GitHub.
  33. ^ Webots User Guide[dead link]
  34. ^ Webots issues on GitHub
  35. ^ Webots technical wiki on GitHub
  36. ^ Webots Discord channel
  37. ^ OpenRAVE mailing list
  38. ^ OpenRAVE API
  39. ^ a b OpenRAVE Issue Tracker
  40. ^ OpenRAVE User Guide
  41. ^ "OpenRAVE Wiki". Archived from the original on 2017-03-28. Retrieved 2017-03-27.
  42. ^ CoppeliaSim API
  43. ^ Coppelia Robotics Forum
  44. ^ CoppeliaSim User Manual
  45. ^ Coppelia Robotics bug reports
  46. ^ "Technical support (registration for update notifications)". docs.encycam.com. Retrieved 2026-01-07.
  47. ^ "CAMAPI documentation". docs.encycam.com. Retrieved 2026-01-07.
  48. ^ "ENCY Robot User Manual". docs.encycam.com. Retrieved 2026-01-07.
  49. ^ "Online features: Collaboration / chat". docs.encycam.com. Retrieved 2026-01-07.
  50. ^ a b c d e f g h OSRF. "Gazebo". gazebosim.org. Retrieved 2019-04-27.
  51. ^ CppCheck
  52. ^ Clang Format
  53. ^ Unit tests
  54. ^ API tests
  55. ^ Webots master
  56. ^ Webots develop
  57. ^ Source
  58. ^ "ENCY Robot: toolpath calculation / kinematics / simulation". encycam.com. Retrieved 2026-01-07.
  59. ^ "ENCY Robot: collision avoidance / collision detection". encycam.com. Retrieved 2026-01-07.
  60. ^ "ENCY Robot: Tool-to-part and part-to-tool". encycam.com. Retrieved 2026-01-07.
  61. ^ "ENCY Hyper: execute on the real robot in Run Mode (real time)". encycam.com. Retrieved 2026-01-07.
  62. ^ OSRF. "Gazebo : Tutorial : Beginner: Model Editor". gazebosim.org. Archived from the original on 2019-01-18. Retrieved 2019-04-27.
  63. ^ OSRF. "Gazebo : Tutorial : Aerodynamics". gazebosim.org. Archived from the original on 2019-05-23. Retrieved 2019-04-27.
  64. ^ OSRF. "Gazebo : Tutorial : Hydrodynamics". gazebosim.org. Archived from the original on 2019-05-23. Retrieved 2019-04-27.
  65. ^ OSRF. "Gazebo : ARIAC". gazebosim.org. Archived from the original on 2019-04-27. Retrieved 2019-04-27.
  66. ^ OSRF. "Gazebo : HAPTIX". gazebosim.org. Archived from the original on 2019-04-27. Retrieved 2019-04-27.
  67. ^ "DARPA's legacy: Open source simulation for robotics development and testing". Robohub.org. Retrieved 2019-04-27.
  68. ^ OSRF. "Gazebo : Tutorial : Make an animated model (actor)". gazebosim.org. Archived from the original on 2019-04-28. Retrieved 2019-04-27.
  69. ^ a b RoboDK robot library
  70. ^ including Salamander robot
  71. ^ including Nao, DARwIn-OP, Fujitsu HOAP2, Kondo KHR-2HV, KHR-3, etc.
  72. ^ Webots robot models
  73. ^ CoppeliaSim main features
  74. ^ "ENCY Robot: complete robotic cell simulation". encycam.com. Retrieved 2026-01-07.
  75. ^ "OpenRAVE Closed chains". Archived from the original on 2017-03-28. Retrieved 2017-03-27.
  76. ^ "OpenRAVE Dual-arm example". Archived from the original on 2017-03-28. Retrieved 2017-03-27.
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  78. ^ "ENCY Robot: redundant axes / external axes". encycam.com. Retrieved 2026-01-07.
  79. ^ OSRF. "Gazebo : Tutorial : Contact Sensor". gazebosim.org. Archived from the original on 2019-07-06. Retrieved 2019-04-27.
  80. ^ OSRF. "Gazebo : Tutorial : Camera Distortion". gazebosim.org. Archived from the original on 2019-07-17. Retrieved 2019-04-27.
  81. ^ a b OSRF. "Gazebo : Tutorial : Intermediate: Velodyne". gazebosim.org. Retrieved 2019-04-27.
  82. ^ Collision detection uses a simplified model
  83. ^ Possible, no model for noise
  84. ^ "ENCY Robot: collision detection". encycam.com. Retrieved 2026-01-07.

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