View source for Software:Robotics simulator

{{short description|Simulator to create applications for physical robots}}

A '''robotics simulator''' is a simulator used to create an application for a physical [[Engineering:Robot|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, [[Engineering:Behavior-based robotics|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.

[[File:RoboLogix4.jpg|Robologix robotics simulator|thumb|right]]
One of the most popular applications for robotics simulators is for [[3D modeling|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 [[Software:Physics engine|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 [[Engineering:Industrial robot|industrial robot]]ic 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 [[Software:Bullet|Bullet]], [[Software:Open Dynamics Engine|ODE]] or [[Software:PhysX|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 (programming language)|C]], [[C++]], [[Perl]], [[Python (programming language)|Python]], [[Java (programming language)|Java]], [[Software:URBI|URBI]], and [[Software:MATLAB|MATLAB]] languages used by Webots; C++ used by [[Software:Gazebo simulator|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 ===
{| class="wikitable sortable" style="font-size: 80%; text-align: center; width: auto;"
|-
! Software
! Developers
! Development status
! [[Software license|License]]
! 3D rendering engine
! Physics engine
! 3D modeller
! Platforms supported
|-
! {{Rh}} class="table-rh" |[[Software:Gazebo simulator|Gazebo]]
| Open Source Robotics Foundation (OSRF)
| Active
| {{free|[[Software:Apache License|Apache 2.0]]}}
| [[Software:OGRE|OGRE]]
| [[Software:Open Dynamics Engine|ODE]], [[Software:Bullet|Bullet]], Simbody, DART
| Internal
| Linux, macOS, Windows
|-
! {{Rh}} class="table-rh" |[[Software:RoboDK|RoboDK]]
| RoboDK
| Active
| {{Proprietary}}
| [[Software:OpenGL|OpenGL]]
| Gravity [[Plug-in (computing)|plug-in]]
| Internal
| Linux, macOS, Windows, Android, iOS, Debian
|-
| {{Rh}} | [[Software:SimSpark|SimSpark]]
| O. Obst et al. (+26)
| Active
| [[Software:GNU GPL|GNU GPL]] (v2)
| Internal
| [[Software:Open Dynamics Engine|ODE]]
| None
| Linux, macOS, Windows
|-
! {{Rh}} class="table-rh" |[[Software:Webots|Webots]]
| Cyberbotics Ltd.
| Active
| {{free|[[Software:Apache License|Apache 2.0]]}}
| Internal (WREN)
| Fork of ODE
| Internal
| Linux, macOS, Windows
|-
| {{Rh}} class="table-rh" |[[Software:OpenRAVE|OpenRAVE]]
| OpenRAVE Community
| Active
| GNU LGPL
| [[Software:Coin3D|Coin3D]], OpenSceneGraph
| [[Software:Open Dynamics Engine|ODE]], [[Software:Bullet|Bullet]]
| Internal
| Linux, macOS, Windows
|-
! {{Rh}} class="table-rh" |[[Software:CoppeliaSim|CoppeliaSim]]
| Coppelia Robotics
| Active
| Dual: commercial, [[Software:GNU GPL|GNU GPL]]
| Internal
| MuJoCo, [[Software:Bullet|Bullet]], [[Software:Open Dynamics Engine|ODE]], [[Software:Vortex|Vortex]], [[Software:Newton Game Dynamics|Newton]]
| Internal
| Linux, macOS, Windows
|- class="sortbottom"
! Software
! Developers
! Development status
! [[Software license|License]]
! 3D rendering engine
! Physics engine
! 3D modeller
! Platforms supported
|}

=== Technical information ===
{| class="wikitable sortable" style="font-size: 80%; text-align: center; width: auto;"
|-
! Software
! Main programming language
! Formats support
! Extensibility
! External APIs
! [[Software:Robotics middleware|Robotics middleware]] support
! Primary user interface
! Headless simulation
|-
! {{Rh}} | [[Software:Gazebo simulator|Gazebo]]
| [[C++]]
| SDF<ref>{{Cite web|url=http://sdformat.org|title=SDF|access-date=2019-04-27|work=sdformat.org|last=OSRF}}</ref>/URDF,<ref name="urdfref">{{Cite web|url=http://wiki.ros.org/urdf|title=urdf - ROS Wiki|access-date=2017-10-06|work=wiki.ros.org}}</ref> [[Company:Wavefront Technologies|OBJ]], [[STL (file format)|STL]], [[COLLADA]]
| [[Plug-in (computing)|Plug-ins]] (C++)
| C++
| ROS, Player, sockets (protobuf messages)
| GUI
| {{Yes}}
|-
! {{Rh}} | [[Software:RoboDK|RoboDK]]
| [[Python (programming language)|Python]]
| [[Software:SolidWorks|SLDPRT]], [[Software:SolidWorks|SLDASM]], STEP, [[Company:Wavefront Technologies|OBJ]], [[STL (file format)|STL]], [[Software:Autodesk 3ds Max|3DS]], [[COLLADA]], [[VRML]], [[Software:Robot Operating System|Robot Operating System]] [[URDF]], [[Software:Rhinoceros 3D|Rhinoceros 3D]], ...
| API,<ref>{{Cite web|url=https://github.com/RoboDK/RoboDK-API|title=RoboDK API|website=[[GitHub]] |date=22 October 2021}}</ref> Plug-In Interface<ref>{{Cite web|url=https://github.com/RoboDK/Plug-In-Interface|title=RoboDK Plug-In Interface| website=[[GitHub]] |date=16 October 2021}}</ref>
| Python, C/C++, C#, Matlab, ...
| Socket
| GUI
| {{Yes}}
|-
! {{Rh}} | [[Software:SimSpark|SimSpark]]
| C++, [[Ruby (programming language)|Ruby]]
| Ruby Scene Graphs
| Mods (C++)
| Network ([[S-expression|sexpr]])
| Sockets ([[S-expression|sexpr]])
| GUI, sockets
| {{Unk}}
|-
! {{Rh}} class="table-rh" | [[Software:Webots|Webots]]
| C++
| WBT, [[VRML]], [[X3D]], 3DS, [[Software:Blender|Blender]], BVH, [[COLLADA]], [[FBX]], [[STL (file format)|STL]], [[Object file|OBJ]], URDF
| API, PROTOs, plug-ins (C/C++)
| C, C++, Python, Java, Matlab, ROS
| Sockets, ROS, NaoQI
| GUI
| {{Yes}}<ref>However, requires a connection on an X server for 3D rendering</ref>
|-
! {{Rh}} | [[Software:OpenRAVE|OpenRAVE]]
| C++, Python
| [[XML]], [[VRML]], [[Company:Wavefront Technologies|OBJ]], [[COLLADA]]
| Plug-ins (C++), API
| C/C++, Python, Matlab
| Sockets, ROS, YARP
| GUI, sockets
| {{Yes}}
|-
! {{Rh}} class="table-rh" | [[Software:CoppeliaSim|CoppeliaSim]]
| C++, Python, [[Lua (programming language)|Lua]]
| 3DS, [[Software:Blender|Blender]], [[COLLADA]], [[STL (file format)|STL]], [[Object file|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, [[Software:ZeroMQ|ZeroMQ]]
| GUI
| {{Yes}}
|- class="sortbottom"
! Software
! Main programming language
! Formats support
! Extensibility
! External APIs
! Robotic middleware support
! Primary user interface
! Headless simulation
|}

=== Infrastructure ===

==== Support ====
{| class="wikitable sortable" style="font-size: 80%; text-align: center; width: auto;"
|-
! Software
! Mailing list
! API documentation
! Public forum, help system
! User manual
! Issue tracker
! Wiki
! Chat
|-
! {{Rh}} | [[Software:Gazebo simulator|Gazebo]]
| {{Yes}}<ref>{{Cite web|url=https://community.gazebosim.org|title=Gazebo Community|access-date=2019-04-27|language=en}}</ref>
| {{Yes}}<ref>{{Cite web|url=http://gazebosim.org/api.html|title=Gazebo API|access-date=2019-04-27|work=Gazebo Community|language=en}}</ref>
| {{Yes}}<ref>{{Cite web|url=http://answers.gazebosim.org|title=Gazebo Answers|access-date=2019-04-27|work=Gazebo Community|language=en}}</ref>
| {{Yes}}<ref>{{Cite web|url=http://gazebosim.org/tutorials|title=Gazebo Tutorials|access-date=2019-04-27|work=Gazebo Community|language=en}}</ref>
| {{Yes}}<ref>{{Cite web|url=http://bitbucket.org/osrf/gazebo/issues|title=Gazebo Issue Tracker|access-date=2019-04-27|work=Gazebo Community|language=en}}</ref>
| {{No}}
|-
! {{Rh}} | [[Software:RoboDK|RoboDK]]
| {{Yes}}<ref>[https://robodk.com/subscribe RoboDK mailing list]</ref>
| {{Yes}}<ref>[https://robodk.com/doc/en/PythonAPI/intro.html RoboDK API Documentation]</ref>
| {{Yes}}<ref>[http://robodk.com/forum/ RoboDK Forum]</ref>
| {{Yes}}<ref>[https://robodk.com/doc/en/ RoboDK Documentation]</ref>
| {{Yes}}<ref>[http://robodk.com/forum/Forum-RoboDK-bugs RoboDK Bug tracker]</ref>
| {{No}}
| {{Unk}}
|-
! {{Rh}} | [[Software:SimSpark|SimSpark]]
| {{Yes}}<ref>[http://sourceforge.net/p/simspark/mailman/ SimSpark mailing lists]</ref>
| {{Yes}}<ref>[http://simspark.sourceforge.net/wiki/index.php/Network_Protocol SimSpark client protocols]</ref>
| {{No}}
| {{Yes}}<ref>[http://simspark.sourceforge.net/wiki/index.php/Users_Manual SimSpark user manual (Wiki)]</ref>
| {{Yes}}<ref>[http://sourceforge.net/p/simspark/bugs/ SimSpark Tracker]</ref>
| {{Yes}}<ref>[http://simspark.sourceforge.net/wiki/ SimSpark Wiki]</ref>
| {{Unk}}
|-
! {{Rh}} | [[Software:Webots|Webots]]
| {{No}}
| {{Yes}}<ref>[https://cyberbotics.com/reference Webots Reference Manual]</ref>
| {{Yes}}<ref>{{cite web |url=https://github.com/cyberbotics/webots/discussions |title=Discussions · cyberbotics/Webots |website=[[GitHub]] }}</ref>
| {{Yes}}<ref>[https://cyberbotics.com/guide Webots User Guide]</ref>
| {{Yes}}<ref>[https://github.com/omichel/webots/issues Webots issues on GitHub]</ref>
| {{Yes}}<ref>[https://github.com/omichel/webots/wiki Webots technical wiki on GitHub]</ref>
| {{Yes}}<ref>[https://discordapp.com/invite/nTWbN9m Webots Discord channel]</ref>
|-
! {{Rh}} | [[Software:OpenRAVE|OpenRAVE]]
| {{Yes}}<ref>[https://lists.sourceforge.net/lists/listinfo/openrave-users OpenRAVE mailing list]</ref>
| {{Yes}}<ref>[http://openrave.org/docs/latest_stable/coreapihtml/index.html OpenRAVE API]</ref>
| {{Yes}}<ref name="OpenRAVE Issue Tracker">[https://github.com/rdiankov/openrave/issues OpenRAVE Issue Tracker]</ref>
| {{Yes}}<ref>[http://www.openrave.org/docs/latest_stable/ OpenRAVE User Guide]</ref>
| {{Yes}}<ref name="OpenRAVE Issue Tracker"/>
| {{Yes}}<ref>[http://openrave.programmingvision.com/wiki/index.php/Main_Page OpenRAVE Wiki]</ref>
| {{Unk}}
|-
! {{Rh}} | [[Software:CoppeliaSim|CoppeliaSim]]
| {{No}}
| {{Yes}}<ref>[https://www.coppeliarobotics.com/helpFiles/en/apiOverview.htm CoppeliaSim API]</ref>
| {{Yes}}<ref>[https://forum.coppeliarobotics.com Coppelia Robotics Forum]</ref>
| {{Yes}}<ref>[https://coppeliarobotics.com/helpFiles/ CoppeliaSim User Manual]</ref>
| {{Yes}}<ref>[https://forum.coppeliarobotics.com/viewforum.php?f=5 Coppelia Robotics bug reports]</ref>
| {{Unk}}
| {{No}}
|- class="sortbottom"
! Software
! Mailing list
! API documentation
! Public forum, help system
! User manual
! Issue tracker
! Wiki
|}

==== Code quality ====
{| class="wikitable sortable" style="font-size: 80%; text-align: center; width: auto;"
|-
! Software
! Static code checker
! Style checker
! Test system(s)
! Test function coverage
! Test branch coverage
! Lines of code
! Lines of comments
! Continuous integration
|-
! {{Rh}} | [[Software:Gazebo simulator|Gazebo]]
| cppcheck<ref name="gazebostatus">{{Cite web|url=http://gazebosim.org/statistics|title=Gazebo|access-date=2019-04-27|work=gazebosim.org|last=OSRF}}</ref>
| cpplint<ref name="gazebostatus"/>
| gtest and qtest<ref name="gazebostatus"/>
| 77.0%<ref name="gazebostatus"/>
| 53.3%<ref name="gazebostatus"/>
| 320k<ref name="gazebostatus"/>
| 106k<ref name="gazebostatus"/>
| Jenkins<ref name="gazebostatus"/>
|-
! {{Rh}} | [[Software:RoboDK|RoboDK]]
| {{Unk}}
| {{Unk}}
| {{Unk}}
| {{Unk}}
| {{Unk}}
| {{Unk}}
| {{Unk}}
| {{Unk}}
|-
! {{Rh}} | [[Software:SimSpark|SimSpark]]
| {{Unk}}
| {{Unk}}
| {{Unk}}
| {{Unk}}
| {{Unk}}
| {{Unk}}
| {{Unk}}
| {{Unk}}
|-
! {{Rh}} | [[Software:Webots|Webots]]
| cppcheck<ref>[https://github.com/omichel/webots/blob/develop/tests/sources/test_cppcheck.py CppCheck]</ref>
| clang-format<ref>[https://github.com/omichel/webots/blob/develop/tests/sources/test_clang_format.py Clang Format]</ref>
| unit tests<ref>[https://github.com/omichel/webots/tree/develop/tests Unit tests]</ref>
| 100% of API functions<ref>[https://github.com/omichel/webots/tree/develop/tests/api API tests]</ref>
| master,<ref>[https://github.com/omichel/webots/tree/master Webots master]</ref> develop<ref>[https://github.com/omichel/webots/tree/develop Webots develop]</ref>
| ~200k
| ~50k
| GitHub Actions
|-
! {{Rh}} | [[Software:OpenRAVE|OpenRAVE]]
| {{Unk}}
| {{Unk}}
| [[Software:List of unit testing frameworks#Python|Python nose]]
| {{Unk}}
| {{Unk}}
| {{Unk}}
| {{Unk}}
| Jenkins<ref>[http://openrave.org/docs/latest_stable/devel/testing/ Source]</ref>
|-
! {{Rh}} | [[Software:CoppeliaSim|CoppeliaSim]]
| {{Unk}}
| {{Unk}}
| {{Unk}}
| {{Unk}}
| {{Unk}}
| {{Unk}}
| {{Unk}}
| {{Unk}}
|- class="sortbottom"
! Software
! Static code checker
! Style checker
! Test system(s)
! Test function coverage
! Test branch coverage
! Lines of code
! Lines of comments
! Continuous integration
|}

=== Features ===
{| class="wikitable sortable" style="font-size: 80%; text-align: center; width: auto;"
|-
! Software
! CAD to motion
! Dynamic collision avoidance
! Relative end effectors
! Off-line programming
! Real-time streaming control of hardware
|-
! {{Rh}} | [[Software:Gazebo simulator|Gazebo]]
| {{Unk}}
| {{Yes}}
| {{Yes}}
| {{Yes}}
| {{Yes}}
|-
! {{Rh}} class="table-rh" | [[Software:RoboDK|RoboDK]]
| {{Yes}}
| {{Yes}}
| {{Yes}}
| {{Yes}}
| {{Yes}}
|-
! {{Rh}} | [[Software:SimSpark|SimSpark]]
| {{Unk}}
| {{No}}
| {{Unk}}
| {{No}}
| {{No}}
|-
! {{Rh}} | [[Software:Webots|Webots]]
| {{Unk}}
| {{Yes}}
| {{Yes}}
| {{Yes}}
| {{Yes}}
|-
! {{Rh}} | [[Software:OpenRAVE|OpenRAVE]]
| {{Unk}}
| {{No}}
| {{Unk}}
| {{No}}
| {{No}}
|-
! {{Rh}} | [[Software:CoppeliaSim|CoppeliaSim]]
| {{Unk}}
| {{Yes}}
| {{Yes}}
| {{Yes}}
| {{Yes}}
|-
! Software
! CAD to motion
! Dynamic collision avoidance
! Relative end effectors
! Off-line programming
! Real-time streaming control
|}

==== Robot families ====
{| class="wikitable sortable" style="font-size: 80%; text-align: center; width: auto;"
|-
! Software
! UGV (ground mobile robot)
! UAV (aerial robots)
! AUV (underwater robots)
! Robotic arms
! Robotic hands (grasping simulation)
! Humanoid robots
! Human avatars
! Full list
|-
! {{Rh}} | [[Software:Gazebo simulator|Gazebo]]
| {{Yes}}<ref>{{Cite web|url=http://gazebosim.org/tutorials?cat=guided_b&tut=guided_b3|title=Gazebo : Tutorial : Beginner: Model Editor|access-date=2019-04-27|work=gazebosim.org|last=OSRF}}</ref>
| {{Yes}}<ref>{{Cite web|url=http://gazebosim.org/tutorials?tut=aerodynamics&cat=physics|title=Gazebo : Tutorial : Aerodynamics|access-date=2019-04-27|work=gazebosim.org|last=OSRF}}</ref>
| {{Yes}}<ref>{{Cite web|url=http://gazebosim.org/tutorials?tut=hydrodynamics&cat=physics|title=Gazebo : Tutorial : Hydrodynamics|access-date=2019-04-27|work=gazebosim.org|last=OSRF}}</ref>
| {{Yes}}<ref>{{Cite web|url=http://gazebosim.org/ariac|title=Gazebo : ARIAC|access-date=2019-04-27|work=gazebosim.org|last=OSRF}}</ref>
| {{Yes}}<ref>{{Cite web|url=http://gazebosim.org/haptix|title=Gazebo : HAPTIX|access-date=2019-04-27|work=gazebosim.org|last=OSRF}}</ref>
| {{Yes}}<ref>{{Cite web|url=http://robohub.org/darpas-legacy-open-source-simulation-for-robotics-development-and-testing/|title=DARPA's legacy: Open source simulation for robotics development and testing|access-date=2019-04-27|work=Robohub.org|language=en-US}}</ref>
| {{Yes}}<ref>{{Cite web|url=http://gazebosim.org/tutorials?tut=actor&cat=build_robot|title=Gazebo : Tutorial : Make an animated model (actor)|access-date=2019-04-27|work=gazebosim.org|last=OSRF}}</ref>
|
|-
! {{Rh}} | [[Software:RoboDK|RoboDK]]
| {{No}}
| {{No}}
| {{No}}
| {{Yes}}<ref name="RoboDK robot library">[https://robodk.com/library RoboDK robot library]</ref>
| {{No}}
| {{No}}
| {{No}}
| {{Yes}}<ref name="RoboDK robot library"/>
|-
! {{Rh}} | [[Software:SimSpark|SimSpark]]
| {{Yes}}
| {{No}}
| {{No}}
| {{Maybe}}
| {{Maybe}}
| {{Yes}}
| {{No}}
|
|-
! {{Rh}} | [[Software:Webots|Webots]]
| {{Yes}}
| {{Yes}}
| {{Yes}}<ref>including Salamander robot</ref>
| {{Yes}}
| {{Yes}}
| {{Yes}}<ref>including Nao, DARwIn-OP, Fujitsu HOAP2, Kondo KHR-2HV, KHR-3, etc.</ref>
| {{Yes}}
| {{yes}}<ref>[https://www.cyberbotics.com/doc/guide/robots Webots robot models]</ref>
|-
! {{Rh}} | [[Software:OpenRAVE|OpenRAVE]]
| {{Yes}}
| {{Unk}}
| {{Unk}}
| {{Yes}}
| {{Yes}}
| {{Yes}}
| {{Yes}}
|-
! {{Rh}} | [[Software:CoppeliaSim|CoppeliaSim]]
| {{Yes}}
| {{Yes}}
| {{Yes}}
| {{Yes}}
| {{Yes}}
| {{Yes}}
| {{Yes}}
| {{Yes}}<ref>[https://www.coppeliarobotics.com/helpFiles/en/coppeliaSimFeatures.htm CoppeliaSim main features]</ref>
|- class="sortbottom"
! 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 ====
{| class="wikitable sortable" style="font-size: 80%; text-align: center; width: auto;"
|-
! Software
! Generic kinematic chains
! Force-controlled motion
! Full list
! Circular kinematic chains
! Kinematically redundant chains
! Bifurcated kinematic chains
|-
! {{Rh}} | [[Software:Gazebo simulator|Gazebo]]
| {{Yes}}
| {{Yes}}
|
| {{Yes}}
| {{Yes}}
| {{Yes}}
|-
! {{Rh}} | [[Software:RoboDK|RoboDK]]
| {{Unk}}
| {{Unk}}
|
| {{Unk}}
| {{Unk}}
| {{Unk}}
|-
! {{Rh}} | [[Software:SimSpark|SimSpark]]
| {{Yes}}
| {{No}}
| [http://simspark.sourceforge.net/wiki/index.php/Effectors SimSpark effectors]
| {{Unk}}
| {{Unk}}
| {{Unk}}
|-
! {{Rh}} | [[Software:Webots|Webots]]
| {{Yes}}
| {{Yes}}
| [https://www.cyberbotics.com/doc/guide/actuators Webots actuators]
| {{Yes}}
| {{Yes}}
| {{Yes}}
|-
! {{Rh}} | [[Software:OpenRAVE|OpenRAVE]]
| {{Yes}}
| {{Yes}}
| [http://openrave.org/docs/latest_stable/coreapihtml/classOpenRAVE_1_1KinBody.html#acdd35b8f16c73235d677fecb11b40247 Joints],[https://sourceforge.net/projects/opengrasp/files/OpenRAVE%20Plugins/actuators/ Extra Actuators]
| {{Yes}}<ref>[http://openrave.programmingvision.com/wiki/index.php/Format:XML#Closed-chains_and_Mimic_Joints OpenRAVE Closed chains]</ref>
| {{Yes}}
| {{Yes}}<ref>[http://openrave.programmingvision.com/wiki/index.php/Format:XML#Dual-arm_example OpenRAVE Dual-arm example]</ref>
|-
! {{Rh}} | [[Software:CoppeliaSim|CoppeliaSim]]
| {{Yes}}
| {{Yes}}
| 
| {{Yes}}
| {{Yes}}
| {{Yes}}
|- class="sortbottom"
! Software
! Generic kinematic chains
! Force-controlled motion
! Full list
! Circular kinematic chains
! Kinematically redundant chains
! Bifurcated kinematic chains
|}

==== Supported sensors ====
{| class="wikitable sortable" style="font-size: 80%; text-align: center; width: auto;"
|-
! Software
! Odometry
! IMU
! Collision
! GPS
! Monocular cameras
! Stereo cameras
! Depth cameras
! Omnidirectional cameras
! 2D laser scanners
! 3D laser scanners
! Full list
|-
! {{Rh}} | [[Software:Gazebo simulator|Gazebo]]
| {{Yes}}
| {{Yes}}
| {{Yes}}<ref>{{Cite web|url=http://gazebosim.org/tutorials?tut=contact_sensor&cat=sensors|title=Gazebo : Tutorial : Contact Sensor|access-date=2019-04-27|work=gazebosim.org|last=OSRF}}</ref>
| {{Yes}}
| {{Yes}}<ref>{{Cite web|url=http://gazebosim.org/tutorials?tut=camera_distortion&cat=sensors|title=Gazebo : Tutorial : Camera Distortion|access-date=2019-04-27|work=gazebosim.org|last=OSRF}}</ref>
| {{Yes}}
| {{Yes}}
| {{Yes}}
| {{Yes}}<ref name="lidartutorial">{{Cite web|url=http://gazebosim.org/tutorials?tut=guided_i1|title=Gazebo : Tutorial : Intermediate: Velodyne|access-date=2019-04-27|work=gazebosim.org|last=OSRF}}</ref>
| {{Yes}}<ref name="lidartutorial"/>
|
|-
! {{Rh}} | [[Software:RoboDK|RoboDK]]
| {{Unk}}
| {{Unk}}
| {{Unk}}
| {{Unk}}
| {{Unk}}
| {{Yes}}
| {{Yes}}
| {{Yes}}
| {{Yes}}
| {{Yes}}
|
|-
! {{Rh}} | [[Software:SimSpark|SimSpark]]
| {{Yes}}
| {{Yes}}
| {{Yes}}<ref>Collision detection uses a simplified model</ref>
| {{Partial}}<ref>Possible, no model for noise</ref>
| {{Yes}}
| {{Partial}}
| {{Unk}}
| {{Unk}}
| {{No}}
| {{No}}
| [http://simspark.sourceforge.net/wiki/index.php/Perceptors SimSpark perceptors]
|-
! {{Rh}} | [[Software:Webots|Webots]]
| {{Yes}}
| {{Yes}}
| {{Yes}}
| {{Yes}}
| {{Yes}}
| {{Yes}}
| {{Yes}}
| {{Yes}}
| {{Yes}}
| {{Yes}}
| [https://www.cyberbotics.com/doc/guide/sensors Webots sensors]
|-
! {{Rh}} | [[Software:OpenRAVE|OpenRAVE]]
| {{Yes}}
| {{Yes}}
| {{Yes}}
| {{Yes}}
| {{Yes}}
| {{Yes}}
| {{Yes}}
| {{Unk}}
| {{Yes}}
| {{Yes}}
|-
! {{Rh}} | [[Software:CoppeliaSim|CoppeliaSim]]
| {{Yes}}
| {{Yes}}
| {{Yes}}
| {{Yes}}
| {{Yes}}
| {{Yes}}
| {{Yes}}
| {{Yes}}
| {{Yes}}
| {{Yes}}
|- class="sortbottom"
! Software
! Odometry
! IMU
! Collision
! GPS
! Monocular cameras
! Stereo cameras
! Depth cameras
! Omnidirectional cameras
! 2D laser scanners
! 3D laser scanners
! Full list
|}

==References==
{{Reflist|3}}

{{Robotics}}

[[Category:Robotics suites| ]]

{{Sourceattribution|Robotics simulator}}