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<title>Robotics simulator</title>

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Robotics simulator

</h1>

</header>

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A robotics simulator is a simulator used to create an application for a physical <a href="Robot" title="Robot">robot</a> 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 <a href="Mobile_robotics" class="mw-redirect" title="Mobile robotics">mobile robotics</a> applications, <a href="Behavior-based_robotics" title="Behavior-based robotics">behavior-based robotics</a> 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 <a href="Anthropomorphic" class="mw-redirect" title="Anthropomorphic">anthropomorphic</a> quality of tenacity.

One of the most popular applications for robotics simulators is for <a href="3D_modeling" title="3D modeling">3D modeling</a> 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 <a href="Physics_engine" title="Physics engine">physics engine</a> 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 <a href="Debugged" class="mw-redirect" title="Debugged">debugged</a> off-line with the final version of the program tested on a physical robot. This applies mainly to <a href="Industrial_robot" title="Industrial robot">industrial robotic</a> 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.

<div class="mw-heading mw-heading2"><h2 id="Features">Features</h2></div>

Modern simulators tend to provide the following features:

<ul><li>Fast robot prototyping:

<ul><li>Using the own simulator as creation tool</li>

<li>Using external tools</li></ul></li>

<li>Physics engines for realistic movements: Most simulators use <a href="Bullet_(software)" title="Bullet (software)">Bullet</a>, <a href="Open_Dynamics_Engine" title="Open Dynamics Engine">ODE</a> or <a href="PhysX" title="PhysX">PhysX</a>.</li>

<li>Realistic 3d rendering: Standard 3d modeling tools or third-party tools can be used to build the environments.</li>

<li>Dynamic robot bodies with scripting: <a href="C_(programming_language)" title="C (programming language)">C</a>, <a href="C%2B%2B" title="C++">C++</a>, <a href="Perl" title="Perl">Perl</a>, <a href="Python_(programming_language)" title="Python (programming language)">Python</a>, <a href="Java_(programming_language)" title="Java (programming language)">Java</a>, <a href="URBI" title="URBI">URBI</a>, and <a href="MATLAB" title="MATLAB">MATLAB</a> languages used by Webots; C++ used by <a href="Gazebo_simulator" class="mw-redirect" title="Gazebo simulator">Gazebo</a>.</li></ul>

<div class="mw-heading mw-heading2"><h2 id="Simulators">Simulators</h2></div>

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.

<div class="mw-heading mw-heading3"><h3 id="General_information">General information</h3></div>

<th>Software

</th>

<th>Developers

</th>

<th>Development status

</th>

<th><a href="Software_license" title="Software license">License</a>

</th>

<th>3D rendering engine

</th>

<th>Physics engine

</th>

<th>3D modeller

</th>

<th>Platforms supported

</th></tr>

<tr>

<th style="background: #ececec; color: black; font-weight: bold; vertical-align: middle; text-align: left;" class="table-rh"><a href="Gazebo_simulator" class="mw-redirect" title="Gazebo simulator">Gazebo</a>

</th>

<td><a href="Open_Robotics" title="Open Robotics">Open Source Robotics Foundation</a> (OSRF)

</td>

<td>Active

</td>

<td style="background: #DFF; color:black; vertical-align: middle; text-align: center;" class="free table-free"><a href="Apache_License" title="Apache License">Apache 2.0</a>

</td>

</td>

<td><a href="Open_Dynamics_Engine" title="Open Dynamics Engine">ODE</a>, <a href="Bullet_(software)" title="Bullet (software)">Bullet</a>, Simbody, DART

</td>

<td>Internal

</td>

<td>Linux, macOS, Windows

</td></tr>

<tr>

<th style="background: #ececec; color: black; font-weight: bold; vertical-align: middle; text-align: left;" class="table-rh"><a href="RoboDK" title="RoboDK">RoboDK</a>

</th>

<td>RoboDK

</td>

<td>Active

</td>

<td style="background: #E7E7FF; color:black; vertical-align: middle; text-align: center;" class="table-proprietary"><a href="Proprietary_software" title="Proprietary software">Proprietary</a>

</td>

<td><a href="OpenGL" title="OpenGL">OpenGL</a>

</td>

<td>Gravity <a href="Plug-in_(computing)" title="Plug-in (computing)">plug-in</a>

</td>

<td>Internal

</td>

<td>Linux, macOS, Windows, Android, iOS, Debian

</td></tr>

<tr>

<td style="background: #ececec; color: black; font-weight: bold; vertical-align: middle; text-align: left;" class="table-rh"><a href="SimSpark" title="SimSpark">SimSpark</a>

</td>

<td>O. Obst et al. (+26)

</td>

<td>Active

</td>

<td><a href="GNU_GPL" class="mw-redirect" title="GNU GPL">GNU GPL</a> (v2)

</td>

<td>Internal

</td>

</td>

<td>None

</td>

<td>Linux, macOS, Windows

</td></tr>

<tr>

<th style="background: #ececec; color: black; font-weight: bold; vertical-align: middle; text-align: left;" class="table-rh"><a href="Webots" title="Webots">Webots</a>

</th>

<td>Cyberbotics Ltd.

</td>

<td>Active

</td>

<td style="background: #DFF; color:black; vertical-align: middle; text-align: center;" class="free table-free"><a href="Apache_License" title="Apache License">Apache 2.0</a>

</td>

<td>Internal (WREN)

</td>

<td>Fork of ODE

</td>

<td>Internal

</td>

<td>Linux, macOS, Windows

</td></tr>

<tr>

<td style="background: #ececec; color: black; font-weight: bold; vertical-align: middle; text-align: left;" class="table-rh"><a href="OpenRAVE" title="OpenRAVE">OpenRAVE</a>

</td>

<td>OpenRAVE Community

</td>

<td>Active

</td>

</td>

<td><a href="Coin3D" title="Coin3D">Coin3D</a>, <a href="OpenSceneGraph" title="OpenSceneGraph">OpenSceneGraph</a>

</td>

<td><a href="Open_Dynamics_Engine" title="Open Dynamics Engine">ODE</a>, <a href="Bullet_(software)" title="Bullet (software)">Bullet</a>

</td>

<td>Internal

</td>

<td>Linux, macOS, Windows

</td></tr>

<tr>

<th style="background: #ececec; color: black; font-weight: bold; vertical-align: middle; text-align: left;" class="table-rh"><a href="CoppeliaSim" title="CoppeliaSim">CoppeliaSim</a>

</th>

<td>Coppelia Robotics

</td>

<td>Active

</td>

<td>Dual: commercial, <a href="GNU_GPL" class="mw-redirect" title="GNU GPL">GNU GPL</a>

</td>

<td>Internal

</td>

<td>MuJoCo, <a href="Bullet_(software)" title="Bullet (software)">Bullet</a>, <a href="Open_Dynamics_Engine" title="Open Dynamics Engine">ODE</a>, <a href="Vortex_(software)" title="Vortex (software)">Vortex</a>, <a href="Newton_Game_Dynamics" title="Newton Game Dynamics">Newton</a>

</td>

<td>Internal

</td>

<td>Linux, macOS, Windows

</td></tr>

<th>Software

</th>

<th>Developers

</th>

<th>Development status

</th>

<th><a href="Software_license" title="Software license">License</a>

</th>

<th>3D rendering engine

</th>

<th>Physics engine

</th>

<th>3D modeller

</th>

<th>Platforms supported

</th></tr></tbody></table>

<div class="mw-heading mw-heading3"><h3 id="Technical_information">Technical information</h3></div>

<th>Software

</th>

<th>Main programming language

</th>

<th>Formats support

</th>

<th>Extensibility

</th>

<th>External APIs

</th>

<th><a href="Robotics_middleware" title="Robotics middleware">Robotics middleware</a> support

</th>

<th>Primary user interface

</th>

<th>Headless simulation

</th></tr>

<tr>

</th>

</td>

<td>SDF<a href="#cite_note-1">[1]</a>/URDF,<a href="#cite_note-urdfref-2">[2]</a> <a href="Wavefront_Technologies" title="Wavefront Technologies">OBJ</a>, <a href="STL_(file_format)" title="STL (file format)">STL</a>, <a href="COLLADA" title="COLLADA">COLLADA</a>

</td>

<td><a href="Plug-in_(computing)" title="Plug-in (computing)">Plug-ins</a> (C++)

</td>

<td>C++

</td>

<td>ROS, Player, sockets (protobuf messages)

</td>

<td>GUI

</td>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td></tr>

<tr>

<th style="background: #ececec; color: black; font-weight: bold; vertical-align: middle; text-align: left;" class="table-rh"><a href="RoboDK" title="RoboDK">RoboDK</a>

</th>

<td><a href="Python_(programming_language)" title="Python (programming language)">Python</a>

</td>

<td><a href="SolidWorks" title="SolidWorks">SLDPRT</a>, <a href="SolidWorks" title="SolidWorks">SLDASM</a>, <a href="ISO_10303-21" title="ISO 10303-21">STEP</a>, <a href="Wavefront_Technologies" title="Wavefront Technologies">OBJ</a>, <a href="STL_(file_format)" title="STL (file format)">STL</a>, <a href="Autodesk_3ds_Max" title="Autodesk 3ds Max">3DS</a>, <a href="COLLADA" title="COLLADA">COLLADA</a>, <a href="VRML" title="VRML">VRML</a>, <a href="Robot_Operating_System" title="Robot Operating System">Robot Operating System</a> <a href="URDF" title="URDF">URDF</a>, <a href="Rhinoceros_3D" title="Rhinoceros 3D">Rhinoceros 3D</a>, ...

</td>

<td>API,<a href="#cite_note-3">[3]</a> Plug-In Interface<a href="#cite_note-4">[4]</a>

</td>

<td>Python, C/C++, C#, Matlab, ...

</td>

<td>Socket

</td>

<td>GUI

</td>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td></tr>

<tr>

<th style="background: #ececec; color: black; font-weight: bold; vertical-align: middle; text-align: left;" class="table-rh"><a href="SimSpark" title="SimSpark">SimSpark</a>

</th>

</td>

<td>Ruby Scene Graphs

</td>

<td>Mods (C++)

</td>

<td>Network (<a href="S-expression" title="S-expression">sexpr</a>)

</td>

<td>Sockets (<a href="S-expression" title="S-expression">sexpr</a>)

</td>

<td>GUI, sockets

</td>

<td style="background: var(--background-color-interactive, #EEE); color: var(--color-base, black); vertical-align: middle; white-space: nowrap; text-align: center;" class="table-Unknown">Unknown

</td></tr>

<tr>

<th style="background: #ececec; color: black; font-weight: bold; vertical-align: middle; text-align: left;" class="table-rh"><a href="Webots" title="Webots">Webots</a>

</th>

<td>C++

</td>

<td>WBT, <a href="VRML" title="VRML">VRML</a>, <a href="X3D" title="X3D">X3D</a>, <a href=".3ds" title=".3ds">3DS</a>, <a href="Blender_(software)" title="Blender (software)">Blender</a>, BVH, <a href="COLLADA" title="COLLADA">COLLADA</a>, <a href="FBX" title="FBX">FBX</a>, <a href="STL_(file_format)" title="STL (file format)">STL</a>, <a href="Object_file" title="Object file">OBJ</a>, URDF

</td>

<td>API, PROTOs, plug-ins (C/C++)

</td>

<td>C, C++, Python, Java, Matlab, ROS

</td>

<td>Sockets, ROS, NaoQI

</td>

<td>GUI

</td>

</td></tr>

<tr>

<th style="background: #ececec; color: black; font-weight: bold; vertical-align: middle; text-align: left;" class="table-rh"><a href="OpenRAVE" title="OpenRAVE">OpenRAVE</a>

</th>

<td>C++, Python

</td>

<td><a href="XML" title="XML">XML</a>, <a href="VRML" title="VRML">VRML</a>, <a href="Wavefront_Technologies" title="Wavefront Technologies">OBJ</a>, <a href="COLLADA" title="COLLADA">COLLADA</a>

</td>

<td>Plug-ins (C++), API

</td>

<td>C/C++, Python, Matlab

</td>

<td>Sockets, ROS, YARP

</td>

<td>GUI, sockets

</td>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td></tr>

<tr>

<th style="background: #ececec; color: black; font-weight: bold; vertical-align: middle; text-align: left;" class="table-rh"><a href="CoppeliaSim" title="CoppeliaSim">CoppeliaSim</a>

</th>

<td>C++, Python, <a href="Lua_(programming_language)" class="mw-redirect" title="Lua (programming language)">Lua</a>

</td>

<td><a href=".3ds" title=".3ds">3DS</a>, <a href="Blender_(software)" title="Blender (software)">Blender</a>, <a href="COLLADA" title="COLLADA">COLLADA</a>, <a href="STL_(file_format)" title="STL (file format)">STL</a>, <a href="Object_file" title="Object file">OBJ</a>, URDF, SDF, GLTF, XML

</td>

<td>Plug-ins (C/C++), embedded scripts (Python, Lua), remote API (C, C++, Python, Java, MATLAB, Octave), add-ons (Python, Lua)

</td>

<td>C, C++, Python, Java, MATLAB, Octave, ROS, ROS 2.0

</td>

<td>Sockets, ROS, ROS 2.0, <a href="ZeroMQ" title="ZeroMQ">ZeroMQ</a>

</td>

<td>GUI

</td>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td></tr>

<th>Software

</th>

<th>Main programming language

</th>

<th>Formats support

</th>

<th>Extensibility

</th>

<th>External APIs

</th>

<th>Robotic middleware support

</th>

<th>Primary user interface

</th>

<th>Headless simulation

</th></tr></tbody></table>

<div class="mw-heading mw-heading3"><h3 id="Infrastructure">Infrastructure</h3></div>

<div class="mw-heading mw-heading4"><h4 id="Support">Support</h4></div>

<th>Software

</th>

<th>Mailing list

</th>

<th>API documentation

</th>

<th>Public forum, help system

</th>

<th>User manual

</th>

<th>Issue tracker

</th>

<th>Wiki

</th>

<th>Chat

</th></tr>

<tr>

</th>

</td>

</td>

</td>

</td>

</td>

<td style="background:#FFC7C7;color:black;vertical-align:middle;text-align:center;" class="table-no">No

</td></tr>

<tr>

<th style="background: #ececec; color: black; font-weight: bold; vertical-align: middle; text-align: left;" class="table-rh"><a href="RoboDK" title="RoboDK">RoboDK</a>

</th>

</td>

</td>

</td>

</td>

</td>

<td style="background:#FFC7C7;color:black;vertical-align:middle;text-align:center;" class="table-no">No

</td>

<td style="background: var(--background-color-interactive, #EEE); color: var(--color-base, black); vertical-align: middle; white-space: nowrap; text-align: center;" class="table-Unknown">Unknown

</td></tr>

<tr>

<th style="background: #ececec; color: black; font-weight: bold; vertical-align: middle; text-align: left;" class="table-rh"><a href="SimSpark" title="SimSpark">SimSpark</a>

</th>

</td>

</td>

<td style="background:#FFC7C7;color:black;vertical-align:middle;text-align:center;" class="table-no">No

</td>

</td>

</td>

</td>

<td style="background: var(--background-color-interactive, #EEE); color: var(--color-base, black); vertical-align: middle; white-space: nowrap; text-align: center;" class="table-Unknown">Unknown

</td></tr>

<tr>

<th style="background: #ececec; color: black; font-weight: bold; vertical-align: middle; text-align: left;" class="table-rh"><a href="Webots" title="Webots">Webots</a>

</th>

<td style="background:#FFC7C7;color:black;vertical-align:middle;text-align:center;" class="table-no">No

</td>

</td>

</td>

</td>

</td>

</td>

</td></tr>

<tr>

<th style="background: #ececec; color: black; font-weight: bold; vertical-align: middle; text-align: left;" class="table-rh"><a href="OpenRAVE" title="OpenRAVE">OpenRAVE</a>

</th>

</td>

</td>

</td>

</td>

</td>

</td>

<td style="background: var(--background-color-interactive, #EEE); color: var(--color-base, black); vertical-align: middle; white-space: nowrap; text-align: center;" class="table-Unknown">Unknown

</td></tr>

<tr>

<th style="background: #ececec; color: black; font-weight: bold; vertical-align: middle; text-align: left;" class="table-rh"><a href="CoppeliaSim" title="CoppeliaSim">CoppeliaSim</a>

</th>

<td style="background:#FFC7C7;color:black;vertical-align:middle;text-align:center;" class="table-no">No

</td>

</td>

</td>

</td>

</td>

<td style="background: var(--background-color-interactive, #EEE); color: var(--color-base, black); vertical-align: middle; white-space: nowrap; text-align: center;" class="table-Unknown">Unknown

</td>

<td style="background:#FFC7C7;color:black;vertical-align:middle;text-align:center;" class="table-no">No

</td></tr>

<th>Software

</th>

<th>Mailing list

</th>

<th>API documentation

</th>

<th>Public forum, help system

</th>

<th>User manual

</th>

<th>Issue tracker

</th>

<th>Wiki

</th></tr></tbody></table>

<div class="mw-heading mw-heading4"><h4 id="Code_quality">Code quality</h4></div>

<th>Software

</th>

<th>Static code checker

</th>

<th>Style checker

</th>

<th>Test system(s)

</th>

<th>Test function coverage

</th>

<th>Test branch coverage

</th>

<th>Lines of code

</th>

<th>Lines of comments

</th>

<th>Continuous integration

</th></tr>

<tr>

</th>

<td>cppcheck<a href="#cite_note-gazebostatus-36">[36]</a>

</td>

<td>cpplint<a href="#cite_note-gazebostatus-36">[36]</a>

</td>

<td>gtest and qtest<a href="#cite_note-gazebostatus-36">[36]</a>

</td>

</td>

</td>

</td>

</td>

<td>Jenkins<a href="#cite_note-gazebostatus-36">[36]</a>

</td></tr>

<tr>

<th style="background: #ececec; color: black; font-weight: bold; vertical-align: middle; text-align: left;" class="table-rh"><a href="RoboDK" title="RoboDK">RoboDK</a>

</th>

<td style="background: var(--background-color-interactive, #EEE); color: var(--color-base, black); vertical-align: middle; white-space: nowrap; text-align: center;" class="table-Unknown">Unknown

</td>

<td style="background: var(--background-color-interactive, #EEE); color: var(--color-base, black); vertical-align: middle; white-space: nowrap; text-align: center;" class="table-Unknown">Unknown

</td>

<td style="background: var(--background-color-interactive, #EEE); color: var(--color-base, black); vertical-align: middle; white-space: nowrap; text-align: center;" class="table-Unknown">Unknown

</td>

<td style="background: var(--background-color-interactive, #EEE); color: var(--color-base, black); vertical-align: middle; white-space: nowrap; text-align: center;" class="table-Unknown">Unknown

</td>

<td style="background: var(--background-color-interactive, #EEE); color: var(--color-base, black); vertical-align: middle; white-space: nowrap; text-align: center;" class="table-Unknown">Unknown

</td>

<td style="background: var(--background-color-interactive, #EEE); color: var(--color-base, black); vertical-align: middle; white-space: nowrap; text-align: center;" class="table-Unknown">Unknown

</td>

<td style="background: var(--background-color-interactive, #EEE); color: var(--color-base, black); vertical-align: middle; white-space: nowrap; text-align: center;" class="table-Unknown">Unknown

</td>

<td style="background: var(--background-color-interactive, #EEE); color: var(--color-base, black); vertical-align: middle; white-space: nowrap; text-align: center;" class="table-Unknown">Unknown

</td></tr>

<tr>

<th style="background: #ececec; color: black; font-weight: bold; vertical-align: middle; text-align: left;" class="table-rh"><a href="SimSpark" title="SimSpark">SimSpark</a>

</th>

<td style="background: var(--background-color-interactive, #EEE); color: var(--color-base, black); vertical-align: middle; white-space: nowrap; text-align: center;" class="table-Unknown">Unknown

</td>

<td style="background: var(--background-color-interactive, #EEE); color: var(--color-base, black); vertical-align: middle; white-space: nowrap; text-align: center;" class="table-Unknown">Unknown

</td>

<td style="background: var(--background-color-interactive, #EEE); color: var(--color-base, black); vertical-align: middle; white-space: nowrap; text-align: center;" class="table-Unknown">Unknown

</td>

<td style="background: var(--background-color-interactive, #EEE); color: var(--color-base, black); vertical-align: middle; white-space: nowrap; text-align: center;" class="table-Unknown">Unknown

</td>

<td style="background: var(--background-color-interactive, #EEE); color: var(--color-base, black); vertical-align: middle; white-space: nowrap; text-align: center;" class="table-Unknown">Unknown

</td>

<td style="background: var(--background-color-interactive, #EEE); color: var(--color-base, black); vertical-align: middle; white-space: nowrap; text-align: center;" class="table-Unknown">Unknown

</td>

<td style="background: var(--background-color-interactive, #EEE); color: var(--color-base, black); vertical-align: middle; white-space: nowrap; text-align: center;" class="table-Unknown">Unknown

</td>

<td style="background: var(--background-color-interactive, #EEE); color: var(--color-base, black); vertical-align: middle; white-space: nowrap; text-align: center;" class="table-Unknown">Unknown

</td></tr>

<tr>

<th style="background: #ececec; color: black; font-weight: bold; vertical-align: middle; text-align: left;" class="table-rh"><a href="Webots" title="Webots">Webots</a>

</th>

<td>cppcheck<a href="#cite_note-37">[37]</a>

</td>

<td>clang-format<a href="#cite_note-38">[38]</a>

</td>

<td>unit tests<a href="#cite_note-39">[39]</a>

</td>

<td>100% of API functions<a href="#cite_note-40">[40]</a>

</td>

<td>master,<a href="#cite_note-41">[41]</a> develop<a href="#cite_note-42">[42]</a>

</td>

<td>~200k

</td>

<td>~50k

</td>

<td>GitHub Actions

</td></tr>

<tr>

<th style="background: #ececec; color: black; font-weight: bold; vertical-align: middle; text-align: left;" class="table-rh"><a href="OpenRAVE" title="OpenRAVE">OpenRAVE</a>

</th>

<td style="background: var(--background-color-interactive, #EEE); color: var(--color-base, black); vertical-align: middle; white-space: nowrap; text-align: center;" class="table-Unknown">Unknown

</td>

<td style="background: var(--background-color-interactive, #EEE); color: var(--color-base, black); vertical-align: middle; white-space: nowrap; text-align: center;" class="table-Unknown">Unknown

</td>

<td><a href="List_of_unit_testing_frameworks#Python" title="List of unit testing frameworks">Python nose</a>

</td>

<td style="background: var(--background-color-interactive, #EEE); color: var(--color-base, black); vertical-align: middle; white-space: nowrap; text-align: center;" class="table-Unknown">Unknown

</td>

<td style="background: var(--background-color-interactive, #EEE); color: var(--color-base, black); vertical-align: middle; white-space: nowrap; text-align: center;" class="table-Unknown">Unknown

</td>

<td style="background: var(--background-color-interactive, #EEE); color: var(--color-base, black); vertical-align: middle; white-space: nowrap; text-align: center;" class="table-Unknown">Unknown

</td>

<td style="background: var(--background-color-interactive, #EEE); color: var(--color-base, black); vertical-align: middle; white-space: nowrap; text-align: center;" class="table-Unknown">Unknown

</td>

<td>Jenkins<a href="#cite_note-43">[43]</a>

</td></tr>

<tr>

<th style="background: #ececec; color: black; font-weight: bold; vertical-align: middle; text-align: left;" class="table-rh"><a href="CoppeliaSim" title="CoppeliaSim">CoppeliaSim</a>

</th>

<td style="background: var(--background-color-interactive, #EEE); color: var(--color-base, black); vertical-align: middle; white-space: nowrap; text-align: center;" class="table-Unknown">Unknown

</td>

<td style="background: var(--background-color-interactive, #EEE); color: var(--color-base, black); vertical-align: middle; white-space: nowrap; text-align: center;" class="table-Unknown">Unknown

</td>

<td style="background: var(--background-color-interactive, #EEE); color: var(--color-base, black); vertical-align: middle; white-space: nowrap; text-align: center;" class="table-Unknown">Unknown

</td>

<td style="background: var(--background-color-interactive, #EEE); color: var(--color-base, black); vertical-align: middle; white-space: nowrap; text-align: center;" class="table-Unknown">Unknown

</td>

<td style="background: var(--background-color-interactive, #EEE); color: var(--color-base, black); vertical-align: middle; white-space: nowrap; text-align: center;" class="table-Unknown">Unknown

</td>

<td style="background: var(--background-color-interactive, #EEE); color: var(--color-base, black); vertical-align: middle; white-space: nowrap; text-align: center;" class="table-Unknown">Unknown

</td>

<td style="background: var(--background-color-interactive, #EEE); color: var(--color-base, black); vertical-align: middle; white-space: nowrap; text-align: center;" class="table-Unknown">Unknown

</td>

<td style="background: var(--background-color-interactive, #EEE); color: var(--color-base, black); vertical-align: middle; white-space: nowrap; text-align: center;" class="table-Unknown">Unknown

</td></tr>

<th>Software

</th>

<th>Static code checker

</th>

<th>Style checker

</th>

<th>Test system(s)

</th>

<th>Test function coverage

</th>

<th>Test branch coverage

</th>

<th>Lines of code

</th>

<th>Lines of comments

</th>

<th>Continuous integration

</th></tr></tbody></table>

<div class="mw-heading mw-heading3"><h3 id="Features_2">Features</h3></div>

<th>Software

</th>

<th>CAD to motion

</th>

<th>Dynamic collision avoidance

</th>

<th>Relative end effectors

</th>

<th>Off-line programming

</th>

<th>Real-time streaming control of hardware

</th></tr>

<tr>

</th>

<td style="background: var(--background-color-interactive, #EEE); color: var(--color-base, black); vertical-align: middle; white-space: nowrap; text-align: center;" class="table-Unknown">Unknown

</td>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td></tr>

<tr>

<th style="background: #ececec; color: black; font-weight: bold; vertical-align: middle; text-align: left;" class="table-rh"><a href="RoboDK" title="RoboDK">RoboDK</a>

</th>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td></tr>

<tr>

<th style="background: #ececec; color: black; font-weight: bold; vertical-align: middle; text-align: left;" class="table-rh"><a href="SimSpark" title="SimSpark">SimSpark</a>

</th>

<td style="background: var(--background-color-interactive, #EEE); color: var(--color-base, black); vertical-align: middle; white-space: nowrap; text-align: center;" class="table-Unknown">Unknown

</td>

<td style="background:#FFC7C7;color:black;vertical-align:middle;text-align:center;" class="table-no">No

</td>

<td style="background: var(--background-color-interactive, #EEE); color: var(--color-base, black); vertical-align: middle; white-space: nowrap; text-align: center;" class="table-Unknown">Unknown

</td>

<td style="background:#FFC7C7;color:black;vertical-align:middle;text-align:center;" class="table-no">No

</td>

<td style="background:#FFC7C7;color:black;vertical-align:middle;text-align:center;" class="table-no">No

</td></tr>

<tr>

<th style="background: #ececec; color: black; font-weight: bold; vertical-align: middle; text-align: left;" class="table-rh"><a href="Webots" title="Webots">Webots</a>

</th>

<td style="background: var(--background-color-interactive, #EEE); color: var(--color-base, black); vertical-align: middle; white-space: nowrap; text-align: center;" class="table-Unknown">Unknown

</td>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td></tr>

<tr>

<th style="background: #ececec; color: black; font-weight: bold; vertical-align: middle; text-align: left;" class="table-rh"><a href="OpenRAVE" title="OpenRAVE">OpenRAVE</a>

</th>

<td style="background: var(--background-color-interactive, #EEE); color: var(--color-base, black); vertical-align: middle; white-space: nowrap; text-align: center;" class="table-Unknown">Unknown

</td>

<td style="background:#FFC7C7;color:black;vertical-align:middle;text-align:center;" class="table-no">No

</td>

<td style="background: var(--background-color-interactive, #EEE); color: var(--color-base, black); vertical-align: middle; white-space: nowrap; text-align: center;" class="table-Unknown">Unknown

</td>

<td style="background:#FFC7C7;color:black;vertical-align:middle;text-align:center;" class="table-no">No

</td>

<td style="background:#FFC7C7;color:black;vertical-align:middle;text-align:center;" class="table-no">No

</td></tr>

<tr>

<th style="background: #ececec; color: black; font-weight: bold; vertical-align: middle; text-align: left;" class="table-rh"><a href="CoppeliaSim" title="CoppeliaSim">CoppeliaSim</a>

</th>

<td style="background: var(--background-color-interactive, #EEE); color: var(--color-base, black); vertical-align: middle; white-space: nowrap; text-align: center;" class="table-Unknown">Unknown

</td>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td></tr>

<tr>

<th>Software

</th>

<th>CAD to motion

</th>

<th>Dynamic collision avoidance

</th>

<th>Relative end effectors

</th>

<th>Off-line programming

</th>

<th>Real-time streaming control

</th></tr></tbody></table>

<div class="mw-heading mw-heading4"><h4 id="Robot_families">Robot families</h4></div>

<th>Software

</th>

<th>UGV (ground mobile robot)

</th>

<th>UAV (aerial robots)

</th>

<th>AUV (underwater robots)

</th>

<th>Robotic arms

</th>

<th>Robotic hands (grasping simulation)

</th>

<th>Humanoid robots

</th>

<th>Human avatars

</th>

<th>Full list

</th></tr>

<tr>

</th>

</td>

</td>

</td>

</td>

</td>

</td>

</td>

<td>

</td></tr>

<tr>

<th style="background: #ececec; color: black; font-weight: bold; vertical-align: middle; text-align: left;" class="table-rh"><a href="RoboDK" title="RoboDK">RoboDK</a>

</th>

<td style="background:#FFC7C7;color:black;vertical-align:middle;text-align:center;" class="table-no">No

</td>

<td style="background:#FFC7C7;color:black;vertical-align:middle;text-align:center;" class="table-no">No

</td>

<td style="background:#FFC7C7;color:black;vertical-align:middle;text-align:center;" class="table-no">No

</td>

</td>

<td style="background:#FFC7C7;color:black;vertical-align:middle;text-align:center;" class="table-no">No

</td>

<td style="background:#FFC7C7;color:black;vertical-align:middle;text-align:center;" class="table-no">No

</td>

<td style="background:#FFC7C7;color:black;vertical-align:middle;text-align:center;" class="table-no">No

</td>

</td></tr>

<tr>

<th style="background: #ececec; color: black; font-weight: bold; vertical-align: middle; text-align: left;" class="table-rh"><a href="SimSpark" title="SimSpark">SimSpark</a>

</th>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td>

<td style="background:#FFC7C7;color:black;vertical-align:middle;text-align:center;" class="table-no">No

</td>

<td style="background:#FFC7C7;color:black;vertical-align:middle;text-align:center;" class="table-no">No

</td>

<td style="background: #FF8; color:black; vertical-align: middle; text-align: center;" class="table-maybe">Maybe

</td>

<td style="background: #FF8; color:black; vertical-align: middle; text-align: center;" class="table-maybe">Maybe

</td>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td>

<td style="background:#FFC7C7;color:black;vertical-align:middle;text-align:center;" class="table-no">No

</td>

<td>

</td></tr>

<tr>

<th style="background: #ececec; color: black; font-weight: bold; vertical-align: middle; text-align: left;" class="table-rh"><a href="Webots" title="Webots">Webots</a>

</th>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td>

</td>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td>

</td>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td>

</td></tr>

<tr>

<th style="background: #ececec; color: black; font-weight: bold; vertical-align: middle; text-align: left;" class="table-rh"><a href="OpenRAVE" title="OpenRAVE">OpenRAVE</a>

</th>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td>

<td style="background: var(--background-color-interactive, #EEE); color: var(--color-base, black); vertical-align: middle; white-space: nowrap; text-align: center;" class="table-Unknown">Unknown

</td>

<td style="background: var(--background-color-interactive, #EEE); color: var(--color-base, black); vertical-align: middle; white-space: nowrap; text-align: center;" class="table-Unknown">Unknown

</td>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td></tr>

<tr>

<th style="background: #ececec; color: black; font-weight: bold; vertical-align: middle; text-align: left;" class="table-rh"><a href="CoppeliaSim" title="CoppeliaSim">CoppeliaSim</a>

</th>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td>

</td></tr>

<th>Software

</th>

<th>UGV (ground mobile robot)

</th>

<th>UAV (aerial robots)

</th>

<th>AUV (underwater robots)

</th>

<th>Robotic arms

</th>

<th>Robotic hands (grasping simulation)

</th>

<th>Humanoid robots

</th>

<th>Human avatars

</th>

<th>Full list

</th></tr></tbody></table>

<div class="mw-heading mw-heading4"><h4 id="Supported_actuators">Supported actuators</h4></div>

<th>Software

</th>

<th>Generic kinematic chains

</th>

<th>Force-controlled motion

</th>

<th>Full list

</th>

<th>Circular kinematic chains

</th>

<th>Kinematically redundant chains

</th>

<th>Bifurcated kinematic chains

</th></tr>

<tr>

</th>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td>

<td>

</td>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td></tr>

<tr>

<th style="background: #ececec; color: black; font-weight: bold; vertical-align: middle; text-align: left;" class="table-rh"><a href="RoboDK" title="RoboDK">RoboDK</a>

</th>

<td style="background: var(--background-color-interactive, #EEE); color: var(--color-base, black); vertical-align: middle; white-space: nowrap; text-align: center;" class="table-Unknown">Unknown

</td>

<td style="background: var(--background-color-interactive, #EEE); color: var(--color-base, black); vertical-align: middle; white-space: nowrap; text-align: center;" class="table-Unknown">Unknown

</td>

<td>

</td>

<td style="background: var(--background-color-interactive, #EEE); color: var(--color-base, black); vertical-align: middle; white-space: nowrap; text-align: center;" class="table-Unknown">Unknown

</td>

<td style="background: var(--background-color-interactive, #EEE); color: var(--color-base, black); vertical-align: middle; white-space: nowrap; text-align: center;" class="table-Unknown">Unknown

</td>

<td style="background: var(--background-color-interactive, #EEE); color: var(--color-base, black); vertical-align: middle; white-space: nowrap; text-align: center;" class="table-Unknown">Unknown

</td></tr>

<tr>

<th style="background: #ececec; color: black; font-weight: bold; vertical-align: middle; text-align: left;" class="table-rh"><a href="SimSpark" title="SimSpark">SimSpark</a>

</th>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td>

<td style="background:#FFC7C7;color:black;vertical-align:middle;text-align:center;" class="table-no">No

</td>

<td><a rel="nofollow" class="external text" href="http://simspark.sourceforge.net/wiki/index.php/Effectors">SimSpark effectors</a>

</td>

<td style="background: var(--background-color-interactive, #EEE); color: var(--color-base, black); vertical-align: middle; white-space: nowrap; text-align: center;" class="table-Unknown">Unknown

</td>

<td style="background: var(--background-color-interactive, #EEE); color: var(--color-base, black); vertical-align: middle; white-space: nowrap; text-align: center;" class="table-Unknown">Unknown

</td>

<td style="background: var(--background-color-interactive, #EEE); color: var(--color-base, black); vertical-align: middle; white-space: nowrap; text-align: center;" class="table-Unknown">Unknown

</td></tr>

<tr>

<th style="background: #ececec; color: black; font-weight: bold; vertical-align: middle; text-align: left;" class="table-rh"><a href="Webots" title="Webots">Webots</a>

</th>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td>

<td><a rel="nofollow" class="external text" href="https://www.cyberbotics.com/doc/guide/actuators">Webots actuators</a>

</td>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td></tr>

<tr>

<th style="background: #ececec; color: black; font-weight: bold; vertical-align: middle; text-align: left;" class="table-rh"><a href="OpenRAVE" title="OpenRAVE">OpenRAVE</a>

</th>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td>

<td><a rel="nofollow" class="external text" href="http://openrave.org/docs/latest_stable/coreapihtml/classOpenRAVE_1_1KinBody.html#acdd35b8f16c73235d677fecb11b40247">Joints</a>,<a rel="nofollow" class="external text" href="https://sourceforge.net/projects/opengrasp/files/OpenRAVE%20Plugins/actuators/">Extra Actuators</a>

</td>

</td>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td>

</td></tr>

<tr>

<th style="background: #ececec; color: black; font-weight: bold; vertical-align: middle; text-align: left;" class="table-rh"><a href="CoppeliaSim" title="CoppeliaSim">CoppeliaSim</a>

</th>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td>

<td>

</td>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td></tr>

<th>Software

</th>

<th>Generic kinematic chains

</th>

<th>Force-controlled motion

</th>

<th>Full list

</th>

<th>Circular kinematic chains

</th>

<th>Kinematically redundant chains

</th>

<th>Bifurcated kinematic chains

</th></tr></tbody></table>

<div class="mw-heading mw-heading4"><h4 id="Supported_sensors">Supported sensors</h4></div>

<th>Software

</th>

<th>Odometry

</th>

<th>IMU

</th>

<th>Collision

</th>

<th>GPS

</th>

<th>Monocular cameras

</th>

<th>Stereo cameras

</th>

<th>Depth cameras

</th>

<th>Omnidirectional cameras

</th>

<th>2D laser scanners

</th>

<th>3D laser scanners

</th>

<th>Full list

</th></tr>

<tr>

</th>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td>

</td>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td>

</td>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td>

</td>

</td>

<td>

</td></tr>

<tr>

<th style="background: #ececec; color: black; font-weight: bold; vertical-align: middle; text-align: left;" class="table-rh"><a href="RoboDK" title="RoboDK">RoboDK</a>

</th>

<td style="background: var(--background-color-interactive, #EEE); color: var(--color-base, black); vertical-align: middle; white-space: nowrap; text-align: center;" class="table-Unknown">Unknown

</td>

<td style="background: var(--background-color-interactive, #EEE); color: var(--color-base, black); vertical-align: middle; white-space: nowrap; text-align: center;" class="table-Unknown">Unknown

</td>

<td style="background: var(--background-color-interactive, #EEE); color: var(--color-base, black); vertical-align: middle; white-space: nowrap; text-align: center;" class="table-Unknown">Unknown

</td>

<td style="background: var(--background-color-interactive, #EEE); color: var(--color-base, black); vertical-align: middle; white-space: nowrap; text-align: center;" class="table-Unknown">Unknown

</td>

<td style="background: var(--background-color-interactive, #EEE); color: var(--color-base, black); vertical-align: middle; white-space: nowrap; text-align: center;" class="table-Unknown">Unknown

</td>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td>

<td>

</td></tr>

<tr>

<th style="background: #ececec; color: black; font-weight: bold; vertical-align: middle; text-align: left;" class="table-rh"><a href="SimSpark" title="SimSpark">SimSpark</a>

</th>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td>

</td>

<td style="background:#FFB; color:black;vertical-align:middle;text-align:center;" class="table-partial">Partial<a href="#cite_note-62">[62]</a>

</td>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td>

<td style="background:#FFB; color:black;vertical-align:middle;text-align:center;" class="table-partial">Partial

</td>

<td style="background: var(--background-color-interactive, #EEE); color: var(--color-base, black); vertical-align: middle; white-space: nowrap; text-align: center;" class="table-Unknown">Unknown

</td>

<td style="background: var(--background-color-interactive, #EEE); color: var(--color-base, black); vertical-align: middle; white-space: nowrap; text-align: center;" class="table-Unknown">Unknown

</td>

<td style="background:#FFC7C7;color:black;vertical-align:middle;text-align:center;" class="table-no">No

</td>

<td style="background:#FFC7C7;color:black;vertical-align:middle;text-align:center;" class="table-no">No

</td>

<td><a rel="nofollow" class="external text" href="http://simspark.sourceforge.net/wiki/index.php/Perceptors">SimSpark perceptors</a>

</td></tr>

<tr>

<th style="background: #ececec; color: black; font-weight: bold; vertical-align: middle; text-align: left;" class="table-rh"><a href="Webots" title="Webots">Webots</a>

</th>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td>

<td><a rel="nofollow" class="external text" href="https://www.cyberbotics.com/doc/guide/sensors">Webots sensors</a>

</td></tr>

<tr>

<th style="background: #ececec; color: black; font-weight: bold; vertical-align: middle; text-align: left;" class="table-rh"><a href="OpenRAVE" title="OpenRAVE">OpenRAVE</a>

</th>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td>

<td style="background: var(--background-color-interactive, #EEE); color: var(--color-base, black); vertical-align: middle; white-space: nowrap; text-align: center;" class="table-Unknown">Unknown

</td>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td></tr>

<tr>

<th style="background: #ececec; color: black; font-weight: bold; vertical-align: middle; text-align: left;" class="table-rh"><a href="CoppeliaSim" title="CoppeliaSim">CoppeliaSim</a>

</th>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td>

<td style="background:#9EFF9E;color:black;vertical-align:middle;text-align:center;" class="table-yes">Yes

</td></tr>

<th>Software

</th>

<th>Odometry

</th>

<th>IMU

</th>

<th>Collision

</th>

<th>GPS

</th>

<th>Monocular cameras

</th>

<th>Stereo cameras

</th>

<th>Depth cameras

</th>

<th>Omnidirectional cameras

</th>

<th>2D laser scanners

</th>

<th>3D laser scanners

</th>

<th>Full list

</th></tr></tbody></table>

<div class="mw-heading mw-heading2"><h2 id="References">References</h2></div>

/* start https://en.wikipedia.org/ */

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</style><cite id="CITEREFOSRF" class="citation web cs1">OSRF. <a rel="nofollow" class="external text" href="http://sdformat.org">"SDF"</a>. sdformat.org. Retrieved 2019-04-27.</cite>

</li>

<li id="cite_note-urdfref-2"><a href="#cite_ref-urdfref_2-0">^</a> <cite class="citation web cs1"><a rel="nofollow" class="external text" href="http://wiki.ros.org/urdf">"urdf - ROS Wiki"</a>. wiki.ros.org. Retrieved 2017-10-06.</cite>

</li>

<li id="cite_note-3"><a href="#cite_ref-3">^</a> <cite class="citation web cs1"><a rel="nofollow" class="external text" href="https://github.com/RoboDK/RoboDK-API">"RoboDK API"</a>. <a href="GitHub" title="GitHub">GitHub</a>. 22 October 2021.</cite>

</li>

<li id="cite_note-4"><a href="#cite_ref-4">^</a> <cite class="citation web cs1"><a rel="nofollow" class="external text" href="https://github.com/RoboDK/Plug-In-Interface">"RoboDK Plug-In Interface"</a>. <a href="GitHub" title="GitHub">GitHub</a>. 16 October 2021.</cite>

</li>

<li id="cite_note-5"><a href="#cite_ref-5">^</a> However, requires a connection on an X server for 3D rendering

</li>

<li id="cite_note-6"><a href="#cite_ref-6">^</a> <cite class="citation web cs1"><a rel="nofollow" class="external text" href="https://community.gazebosim.org">"Gazebo Community"</a>. Retrieved 2019-04-27.</cite>

</li>

<li id="cite_note-7"><a href="#cite_ref-7">^</a> <cite class="citation web cs1"><a rel="nofollow" class="external text" href="http://gazebosim.org/api.html">"Gazebo API"</a>. Gazebo Community. Retrieved 2019-04-27.</cite>

</li>

<li id="cite_note-8"><a href="#cite_ref-8">^</a> <cite class="citation web cs1"><a rel="nofollow" class="external text" href="http://answers.gazebosim.org">"Gazebo Answers"</a>. Gazebo Community. Retrieved 2019-04-27.</cite>

</li>

<li id="cite_note-9"><a href="#cite_ref-9">^</a> <cite class="citation web cs1"><a rel="nofollow" class="external text" href="http://gazebosim.org/tutorials">"Gazebo Tutorials"</a>. Gazebo Community. Retrieved 2019-04-27.</cite>

</li>

<li id="cite_note-10"><a href="#cite_ref-10">^</a> <cite class="citation web cs1"><a rel="nofollow" class="external text" href="https://bitbucket.org/osrf/gazebo/issues">"Gazebo Issue Tracker"</a>. Gazebo Community. Retrieved 2019-04-27.</cite>

</li>

<li id="cite_note-11"><a href="#cite_ref-11">^</a> <a rel="nofollow" class="external text" href="https://robodk.com/subscribe">RoboDK mailing list</a>

</li>

<li id="cite_note-12"><a href="#cite_ref-12">^</a> <a rel="nofollow" class="external text" href="https://robodk.com/doc/en/PythonAPI/intro.html">RoboDK API Documentation</a>

</li>

<li id="cite_note-13"><a href="#cite_ref-13">^</a> <a rel="nofollow" class="external text" href="https://robodk.com/forum/">RoboDK Forum</a>

</li>

<li id="cite_note-14"><a href="#cite_ref-14">^</a> <a rel="nofollow" class="external text" href="https://robodk.com/doc/en/">RoboDK Documentation</a>

</li>

<li id="cite_note-15"><a href="#cite_ref-15">^</a> <a rel="nofollow" class="external text" href="https://robodk.com/forum/Forum-RoboDK-bugs">RoboDK Bug tracker</a>

</li>

<li id="cite_note-16"><a href="#cite_ref-16">^</a> <a rel="nofollow" class="external text" href="http://sourceforge.net/p/simspark/mailman/">SimSpark mailing lists</a>

</li>

<li id="cite_note-17"><a href="#cite_ref-17">^</a> <cite class="citation web cs1"><a rel="nofollow" class="external text" href="https://web.archive.org/web/20160225172352/http://simspark.sourceforge.net/wiki/index.php/Network_Protocol">"SimSpark client protocols"</a>. Archived from <a rel="nofollow" class="external text" href="http://simspark.sourceforge.net/wiki/index.php/Network_Protocol">the original</a> on 2016-02-25. Retrieved 2015-04-08.</cite>

</li>

<li id="cite_note-18"><a href="#cite_ref-18">^</a> <cite class="citation web cs1"><a rel="nofollow" class="external text" href="https://web.archive.org/web/20150225121132/http://simspark.sourceforge.net/wiki/index.php/Users_Manual">"SimSpark user manual (Wiki)"</a>. Archived from <a rel="nofollow" class="external text" href="http://simspark.sourceforge.net/wiki/index.php/Users_Manual">the original</a> on 2015-02-25. Retrieved 2015-04-08.</cite>

</li>

<li id="cite_note-19"><a href="#cite_ref-19">^</a> <a rel="nofollow" class="external text" href="http://sourceforge.net/p/simspark/bugs/">SimSpark Tracker</a>

</li>

<li id="cite_note-20"><a href="#cite_ref-20">^</a> <a rel="nofollow" class="external text" href="http://simspark.sourceforge.net/wiki/">SimSpark Wiki</a>

</li>

<li id="cite_note-21"><a href="#cite_ref-21">^</a> <a rel="nofollow" class="external text" href="https://cyberbotics.com/reference">Webots Reference Manual</a>

</li>

<li id="cite_note-22"><a href="#cite_ref-22">^</a> <cite class="citation web cs1"><a rel="nofollow" class="external text" href="https://github.com/cyberbotics/webots/discussions">"Discussions · cyberbotics/Webots"</a>. <a href="GitHub" title="GitHub">GitHub</a>.</cite>

</li>

<li id="cite_note-23"><a href="#cite_ref-23">^</a> <a rel="nofollow" class="external text" href="https://cyberbotics.com/guide">Webots User Guide</a>

</li>

<li id="cite_note-24"><a href="#cite_ref-24">^</a> <a rel="nofollow" class="external text" href="https://github.com/omichel/webots/issues">Webots issues on GitHub</a>

</li>

<li id="cite_note-25"><a href="#cite_ref-25">^</a> <a rel="nofollow" class="external text" href="https://github.com/omichel/webots/wiki">Webots technical wiki on GitHub</a>

</li>

<li id="cite_note-26"><a href="#cite_ref-26">^</a> <a rel="nofollow" class="external text" href="https://discordapp.com/invite/nTWbN9m">Webots Discord channel</a>

</li>

<li id="cite_note-27"><a href="#cite_ref-27">^</a> <a rel="nofollow" class="external text" href="https://lists.sourceforge.net/lists/listinfo/openrave-users">OpenRAVE mailing list</a>

</li>

<li id="cite_note-28"><a href="#cite_ref-28">^</a> <a rel="nofollow" class="external text" href="http://openrave.org/docs/latest_stable/coreapihtml/index.html">OpenRAVE API</a>

</li>

<li id="cite_note-OpenRAVE_Issue_Tracker-29">^ <a href="#cite_ref-OpenRAVE_Issue_Tracker_29-0">a</a> <a href="#cite_ref-OpenRAVE_Issue_Tracker_29-1">b</a> <a rel="nofollow" class="external text" href="https://github.com/rdiankov/openrave/issues">OpenRAVE Issue Tracker</a>

</li>

<li id="cite_note-30"><a href="#cite_ref-30">^</a> <a rel="nofollow" class="external text" href="http://www.openrave.org/docs/latest_stable/">OpenRAVE User Guide</a>

</li>

<li id="cite_note-31"><a href="#cite_ref-31">^</a> <a rel="nofollow" class="external text" href="http://openrave.programmingvision.com/wiki/index.php/Main_Page">OpenRAVE Wiki</a>

</li>

<li id="cite_note-32"><a href="#cite_ref-32">^</a> <a rel="nofollow" class="external text" href="https://www.coppeliarobotics.com/helpFiles/en/apiOverview.htm">CoppeliaSim API</a>

</li>

<li id="cite_note-33"><a href="#cite_ref-33">^</a> <a rel="nofollow" class="external text" href="https://forum.coppeliarobotics.com">Coppelia Robotics Forum</a>

</li>

<li id="cite_note-34"><a href="#cite_ref-34">^</a> <a rel="nofollow" class="external text" href="https://coppeliarobotics.com/helpFiles/">CoppeliaSim User Manual</a>

</li>

<li id="cite_note-35"><a href="#cite_ref-35">^</a> <a rel="nofollow" class="external text" href="https://forum.coppeliarobotics.com/viewforum.php?f=5">Coppelia Robotics bug reports</a>

</li>

<li id="cite_note-gazebostatus-36">^ <a href="#cite_ref-gazebostatus_36-0">a</a> <a href="#cite_ref-gazebostatus_36-1">b</a> <a href="#cite_ref-gazebostatus_36-2">c</a> <a href="#cite_ref-gazebostatus_36-3">d</a> <a href="#cite_ref-gazebostatus_36-4">e</a> <a href="#cite_ref-gazebostatus_36-5">f</a> <a href="#cite_ref-gazebostatus_36-6">g</a> <a href="#cite_ref-gazebostatus_36-7">h</a> <cite id="CITEREFOSRF" class="citation web cs1">OSRF. <a rel="nofollow" class="external text" href="http://gazebosim.org/statistics">"Gazebo"</a>. gazebosim.org. Retrieved 2019-04-27.</cite>

</li>

<li id="cite_note-37"><a href="#cite_ref-37">^</a> <a rel="nofollow" class="external text" href="https://github.com/omichel/webots/blob/develop/tests/sources/test_cppcheck.py">CppCheck</a>

</li>

<li id="cite_note-38"><a href="#cite_ref-38">^</a> <a rel="nofollow" class="external text" href="https://github.com/omichel/webots/blob/develop/tests/sources/test_clang_format.py">Clang Format</a>

</li>

<li id="cite_note-39"><a href="#cite_ref-39">^</a> <a rel="nofollow" class="external text" href="https://github.com/omichel/webots/tree/develop/tests">Unit tests</a>

</li>

<li id="cite_note-40"><a href="#cite_ref-40">^</a> <a rel="nofollow" class="external text" href="https://github.com/omichel/webots/tree/develop/tests/api">API tests</a>

</li>

<li id="cite_note-41"><a href="#cite_ref-41">^</a> <a rel="nofollow" class="external text" href="https://github.com/omichel/webots/tree/master">Webots master</a>

</li>

<li id="cite_note-42"><a href="#cite_ref-42">^</a> <a rel="nofollow" class="external text" href="https://github.com/omichel/webots/tree/develop">Webots develop</a>

</li>

<li id="cite_note-43"><a href="#cite_ref-43">^</a> <a rel="nofollow" class="external text" href="http://openrave.org/docs/latest_stable/devel/testing/">Source</a>

</li>

<li id="cite_note-44"><a href="#cite_ref-44">^</a> <cite id="CITEREFOSRF" class="citation web cs1">OSRF. <a rel="nofollow" class="external text" href="http://gazebosim.org/tutorials?cat=guided_b&tut=guided_b3">"Gazebo : Tutorial : Beginner: Model Editor"</a>. gazebosim.org. Retrieved 2019-04-27.</cite>

</li>

<li id="cite_note-45"><a href="#cite_ref-45">^</a> <cite id="CITEREFOSRF" class="citation web cs1">OSRF. <a rel="nofollow" class="external text" href="http://gazebosim.org/tutorials?tut=aerodynamics&cat=physics">"Gazebo : Tutorial : Aerodynamics"</a>. gazebosim.org. Retrieved 2019-04-27.</cite>

</li>

<li id="cite_note-46"><a href="#cite_ref-46">^</a> <cite id="CITEREFOSRF" class="citation web cs1">OSRF. <a rel="nofollow" class="external text" href="http://gazebosim.org/tutorials?tut=hydrodynamics&cat=physics">"Gazebo : Tutorial : Hydrodynamics"</a>. gazebosim.org. Retrieved 2019-04-27.</cite>

</li>

<li id="cite_note-47"><a href="#cite_ref-47">^</a> <cite id="CITEREFOSRF" class="citation web cs1">OSRF. <a rel="nofollow" class="external text" href="http://gazebosim.org/ariac">"Gazebo : ARIAC"</a>. gazebosim.org. Retrieved 2019-04-27.</cite>

</li>

<li id="cite_note-48"><a href="#cite_ref-48">^</a> <cite id="CITEREFOSRF" class="citation web cs1">OSRF. <a rel="nofollow" class="external text" href="http://gazebosim.org/haptix">"Gazebo : HAPTIX"</a>. gazebosim.org. Retrieved 2019-04-27.</cite>

</li>

<li id="cite_note-49"><a href="#cite_ref-49">^</a> <cite class="citation web cs1"><a rel="nofollow" class="external text" href="http://robohub.org/darpas-legacy-open-source-simulation-for-robotics-development-and-testing/">"DARPA's legacy: Open source simulation for robotics development and testing"</a>. Robohub.org. Retrieved 2019-04-27.</cite>

</li>

<li id="cite_note-50"><a href="#cite_ref-50">^</a> <cite id="CITEREFOSRF" class="citation web cs1">OSRF. <a rel="nofollow" class="external text" href="http://gazebosim.org/tutorials?tut=actor&cat=build_robot">"Gazebo : Tutorial : Make an animated model (actor)"</a>. gazebosim.org. Retrieved 2019-04-27.</cite>

</li>

<li id="cite_note-RoboDK_robot_library-51">^ <a href="#cite_ref-RoboDK_robot_library_51-0">a</a> <a href="#cite_ref-RoboDK_robot_library_51-1">b</a> <a rel="nofollow" class="external text" href="https://robodk.com/library">RoboDK robot library</a>

</li>

<li id="cite_note-52"><a href="#cite_ref-52">^</a> including Salamander robot

</li>

<li id="cite_note-53"><a href="#cite_ref-53">^</a> including Nao, DARwIn-OP, Fujitsu HOAP2, Kondo KHR-2HV, KHR-3, etc.

</li>

<li id="cite_note-54"><a href="#cite_ref-54">^</a> <a rel="nofollow" class="external text" href="https://www.cyberbotics.com/doc/guide/robots">Webots robot models</a>

</li>

<li id="cite_note-55"><a href="#cite_ref-55">^</a> <a rel="nofollow" class="external text" href="https://www.coppeliarobotics.com/helpFiles/en/coppeliaSimFeatures.htm">CoppeliaSim main features</a>

</li>

<li id="cite_note-56"><a href="#cite_ref-56">^</a> <a rel="nofollow" class="external text" href="http://openrave.programmingvision.com/wiki/index.php/Format:XML#Closed-chains_and_Mimic_Joints">OpenRAVE Closed chains</a>

</li>

<li id="cite_note-57"><a href="#cite_ref-57">^</a> <a rel="nofollow" class="external text" href="http://openrave.programmingvision.com/wiki/index.php/Format:XML#Dual-arm_example">OpenRAVE Dual-arm example</a>

</li>

<li id="cite_note-58"><a href="#cite_ref-58">^</a> <cite id="CITEREFOSRF" class="citation web cs1">OSRF. <a rel="nofollow" class="external text" href="http://gazebosim.org/tutorials?tut=contact_sensor&cat=sensors">"Gazebo : Tutorial : Contact Sensor"</a>. gazebosim.org. Retrieved 2019-04-27.</cite>

</li>

<li id="cite_note-59"><a href="#cite_ref-59">^</a> <cite id="CITEREFOSRF" class="citation web cs1">OSRF. <a rel="nofollow" class="external text" href="http://gazebosim.org/tutorials?tut=camera_distortion&cat=sensors">"Gazebo : Tutorial : Camera Distortion"</a>. gazebosim.org. Retrieved 2019-04-27.</cite>

</li>

<li id="cite_note-lidartutorial-60">^ <a href="#cite_ref-lidartutorial_60-0">a</a> <a href="#cite_ref-lidartutorial_60-1">b</a> <cite id="CITEREFOSRF" class="citation web cs1">OSRF. <a rel="nofollow" class="external text" href="http://gazebosim.org/tutorials?tut=guided_i1">"Gazebo : Tutorial : Intermediate: Velodyne"</a>. gazebosim.org. Retrieved 2019-04-27.</cite>

</li>

<li id="cite_note-61"><a href="#cite_ref-61">^</a> Collision detection uses a simplified model

</li>

<li id="cite_note-62"><a href="#cite_ref-62">^</a> Possible, no model for noise

</li>

</ol></div>

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</style><div id="Robotics434" style="font-size:114%;margin:0 4em"><a href="Robotics" title="Robotics">Robotics</a></div></th></tr><tr><th scope="row" class="navbox-group" style="width:1%">Main articles</th><td class="navbox-list-with-group navbox-list navbox-odd" style="width:100%;padding:0"><div style="padding:0 0.25em">

<ul><li><a href="Outline_of_robotics" title="Outline of robotics">Outline</a></li>

<li><a href="Glossary_of_robotics" title="Glossary of robotics">Glossary</a></li>

<li><a href="Index_of_robotics_articles" title="Index of robotics articles">Index</a></li>

<li><a href="History_of_robots" title="History of robots">History</a></li>

<li><a href="Geography_of_robotics" title="Geography of robotics">Geography</a></li>

<li><a href="Robot_ethics" title="Robot ethics">Ethics</a></li>

<li><a href="Robot_competition" title="Robot competition">Competitions</a></li>

<li><a href="Competitions_and_prizes_in_artificial_intelligence" title="Competitions and prizes in artificial intelligence">AI competitions</a></li></ul>

</div></td><td class="noviewer navbox-image" rowspan="8" style="width:1px;padding:0 0 0 2px"><div></div></td></tr><tr><th scope="row" class="navbox-group" style="width:1%"><a href="Robot" title="Robot">Types</a></th><td class="navbox-list-with-group navbox-list navbox-even" style="width:100%;padding:0"><div style="padding:0 0.25em">

<ul><li><a href="Aerobot" title="Aerobot">Aerobot</a></li>

<li><a href="Anthropomorphic" class="mw-redirect" title="Anthropomorphic">Anthropomorphic</a>

<ul><li><a href="Humanoid_robot" title="Humanoid robot">Humanoid</a></li>

<li><a href="Android_(robot)" title="Android (robot)">Android</a></li>

<li><a href="Cyborg" title="Cyborg">Cyborg</a></li>

<li><a href="Gynoid" title="Gynoid">Gynoid</a></li></ul></li>

<li><a href="Claytronics" class="mw-redirect" title="Claytronics">Claytronics</a></li>

<li><a href="Companion_robot" title="Companion robot">Companion</a></li>

<li><a href="Automaton" title="Automaton">Automaton</a>

<ul><li><a href="Animatronics" title="Animatronics">Animatronic</a>

<ul><li><a href="Audio-Animatronics" title="Audio-Animatronics">Audio-Animatronics</a></li></ul></li></ul></li>

<li><a href="Industrial_robot" title="Industrial robot">Industrial</a></li>

<li><a href="Articulated_robot" title="Articulated robot">Articulated</a>

<li><a href="Domestic_robot" title="Domestic robot">Domestic</a></li>

<li><a href="Educational_robotics" title="Educational robotics">Educational</a></li>

<li><a href="Entertainment_robot" title="Entertainment robot">Entertainment</a></li>

<li><a href="Juggling_robot" title="Juggling robot">Juggling</a></li>

<li><a href="Military_robot" title="Military robot">Military</a></li>

<li><a href="Medical_robot" title="Medical robot">Medical</a></li>

<li><a href="Service_robot" title="Service robot">Service</a></li>

<li><a href="Disability_robot" class="mw-redirect" title="Disability robot">Disability</a></li>

<li><a href="Agricultural_robot" title="Agricultural robot">Agricultural</a></li>

<li><a href="Automated_restaurant" title="Automated restaurant">Food service</a></li>

<li><a href="Automated_retail" title="Automated retail">Retail</a></li>

<li><a href="BEAM_robotics" title="BEAM robotics">BEAM robotics</a></li>

<li><a href="Soft_robotics" title="Soft robotics">Soft robotics</a></li></ul>

</div></td></tr><tr><th scope="row" class="navbox-group" style="width:1%">Classifications</th><td class="navbox-list-with-group navbox-list navbox-odd" style="width:100%;padding:0"><div style="padding:0 0.25em">

<ul><li><a href="Biorobotics" title="Biorobotics">Biorobotics</a></li>

<li><a href="Cloud_robotics" title="Cloud robotics">Cloud robotics</a></li>

<li><a href="Continuum_robot" title="Continuum robot">Continuum robot</a></li>

<li><a href="Unmanned_vehicle" class="mw-redirect" title="Unmanned vehicle">Unmanned vehicle</a>

<ul><li><a href="Unmanned_aerial_vehicle" title="Unmanned aerial vehicle">aerial</a></li>

<li><a href="Unmanned_ground_vehicle" title="Unmanned ground vehicle">ground</a></li></ul></li>

<li><a href="Mobile_robot" title="Mobile robot">Mobile robot</a></li>

<li><a href="Microbotics" title="Microbotics">Microbotics</a></li>

<li><a href="Nanorobotics" title="Nanorobotics">Nanorobotics</a></li>

<li><a href="Necrobotics" title="Necrobotics">Necrobotics</a></li>

<li><a href="Robotic_spacecraft" class="mw-redirect" title="Robotic spacecraft">Robotic spacecraft</a>

<ul><li><a href="Space_probe" class="mw-redirect" title="Space probe">Space probe</a></li></ul></li>

<li><a href="Swarm_robotics" title="Swarm robotics">Swarm</a></li>

<li><a href="Telerobotics" title="Telerobotics">Telerobotics</a></li>

<li><a href="Autonomous_underwater_vehicle" title="Autonomous underwater vehicle">Underwater</a>

<ul><li><a href="Remotely_operated_underwater_vehicle" title="Remotely operated underwater vehicle">remotely-operated</a></li>

<li><a href="Robotic_fish" class="mw-redirect" title="Robotic fish">Robotic fish</a></li></ul></li></ul>

</div></td></tr><tr><th scope="row" class="navbox-group" style="width:1%"><a href="Robot_locomotion" title="Robot locomotion">Locomotion</a></th><td class="navbox-list-with-group navbox-list navbox-even" style="width:100%;padding:0"><div style="padding:0 0.25em">

<ul><li><a href="Continuous_track" title="Continuous track">Tracks</a></li>

<li><a href="Legged_robot" title="Legged robot">Walking</a>

<ul><li><a href="Hexapod_(robotics)" title="Hexapod (robotics)">Hexapod</a></li></ul></li>

<li><a href="Climber_(BEAM)" class="mw-redirect" title="Climber (BEAM)">Climbing</a></li>

<li><a href="Electric_unicycle" title="Electric unicycle">Electric unicycle</a></li>

<li><a href="Robotic_fin" class="mw-redirect" title="Robotic fin">Robotic fins</a></li></ul>

</div></td></tr><tr><th scope="row" class="navbox-group" style="width:1%"><a href="Robotic_navigation" class="mw-redirect" title="Robotic navigation">Navigation</a> and <a href="Robotic_mapping" title="Robotic mapping">mapping</a></th><td class="navbox-list-with-group navbox-list navbox-odd" style="width:100%;padding:0"><div style="padding:0 0.25em">

<ul><li><a href="Motion_planning" title="Motion planning">Motion planning</a></li>

<li><a href="Simultaneous_localization_and_mapping" title="Simultaneous localization and mapping">Simultaneous localization and mapping</a></li>

<li><a href="Visual_odometry" title="Visual odometry">Visual odometry</a></li>

<li><a href="Vision-guided_robot_systems" title="Vision-guided robot systems">Vision-guided robot systems</a></li></ul>

</div></td></tr><tr><th scope="row" class="navbox-group" style="width:1%">Research</th><td class="navbox-list-with-group navbox-list navbox-even" style="width:100%;padding:0"><div style="padding:0 0.25em">

<ul><li><a href="Evolutionary_robotics" title="Evolutionary robotics">Evolutionary</a></li>

<li><a href="Robotics_suite" title="Robotics suite">Suite</a></li>

<li><a href="Open-source_robotics" title="Open-source robotics">Open-source</a></li>

<li><a href="Robot_software" title="Robot software">Software</a></li>

<li><a href="Adaptable_robotics" title="Adaptable robotics">Adaptable</a></li>

<li><a href="Developmental_robotics" title="Developmental robotics">Developmental</a></li>

<li><a href="Human%E2%80%93robot_interaction" title="Human–robot interaction">Human–robot interaction</a></li>

<li><a href="Robotic_paradigm" title="Robotic paradigm">Paradigms</a></li>

<li><a href="Perceptual_robotics" title="Perceptual robotics">Perceptual</a></li>

<li><a href="Situated_robotics" title="Situated robotics">Situated</a></li>

<li><a href="Ubiquitous_robot" title="Ubiquitous robot">Ubiquitous</a></li></ul>

</div></td></tr><tr><th scope="row" class="navbox-group" style="width:1%"><a href="List_of_robotics_companies" title="List of robotics companies">Companies</a></th><td class="navbox-list-with-group navbox-list navbox-odd" style="width:100%;padding:0"><div style="padding:0 0.25em">

<li><a href="Amazon_Robotics" title="Amazon Robotics">Amazon Robotics</a></li>

<li><a href="Anybots" title="Anybots">Anybots</a></li>

<li><a href="Barrett_Technology" title="Barrett Technology">Barrett Technology</a></li>

<li><a href="Boston_Dynamics" title="Boston Dynamics">Boston Dynamics</a></li>

<li><a href="Doosan_Robotics" title="Doosan Robotics">Doosan Robotics</a></li>

<li><a href="Energid_Technologies" title="Energid Technologies">Energid Technologies</a></li>

<li><a href="FarmWise" title="FarmWise">FarmWise</a></li>

<li><a href="FANUC" title="FANUC">FANUC</a></li>

<li><a href="Figure_AI" title="Figure AI">Figure AI</a></li>

<li><a href="Foster-Miller" title="Foster-Miller">Foster-Miller</a></li>

<li><a href="Harvest_Automation" title="Harvest Automation">Harvest Automation</a></li>

<li><a href="HD_Hyundai_Robotics" title="HD Hyundai Robotics">HD Hyundai Robotics</a></li>

<li><a href="Honeybee_Robotics" title="Honeybee Robotics">Honeybee Robotics</a></li>

<li><a href="Intuitive_Surgical" title="Intuitive Surgical">Intuitive Surgical</a></li>

<li><a href="IRobot" title="IRobot">IRobot</a></li>

<li><a href="Rainbow_Robotics" title="Rainbow Robotics">Rainbow Robotics</a></li>

<li><a href="Starship_Technologies" title="Starship Technologies">Starship Technologies</a></li>

<li><a href="Symbotic" title="Symbotic">Symbotic</a></li>

<li><a href="Universal_Robotics" title="Universal Robotics">Universal Robotics</a></li>

<li><a href="Wolf_Robotics" title="Wolf Robotics">Wolf Robotics</a></li>

<li><a href="Yaskawa_Electric_Corporation" title="Yaskawa Electric Corporation">Yaskawa</a></li></ul>

</div></td></tr><tr><th scope="row" class="navbox-group" style="width:1%">Related</th><td class="navbox-list-with-group navbox-list navbox-even" style="width:100%;padding:0"><div style="padding:0 0.25em">

<ul><li><a href="Critique_of_work" title="Critique of work">Critique of work</a></li>

<li><a href="Powered_exoskeleton" class="mw-redirect" title="Powered exoskeleton">Powered exoskeleton</a></li>

<li><a href="Workplace_robotics_safety" title="Workplace robotics safety">Workplace robotics safety</a>

<ul><li><a href="Robotic_tech_vest" title="Robotic tech vest">Robotic tech vest</a></li></ul></li>

<li><a href="Technological_unemployment" title="Technological unemployment">Technological unemployment</a></li>

<li><a href="Terrainability" title="Terrainability">Terrainability</a></li>

<li><a href="List_of_fictional_robots_and_androids" title="List of fictional robots and androids">Fictional robots</a></li></ul>

</div></td></tr><tr><td class="navbox-abovebelow" colspan="3"><div>

<ul><li> Category</li>

<li> <a href="Outline_of_robotics" title="Outline of robotics">Outline</a></li></ul>

</div></td></tr></tbody></table></div></div><div><div class="zim-footer">

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