<s>
A	O
robotics	B-Application
simulator	I-Application
is	O
a	O
simulator	O
used	O
to	O
create	O
an	O
application	O
for	O
a	O
physical	O
robot	B-Algorithm
without	O
depending	O
on	O
the	O
physical	O
machine	O
,	O
thus	O
saving	O
cost	O
and	O
time	O
.	O
</s>
<s>
In	O
some	O
case	O
,	O
such	O
applications	O
can	O
be	O
transferred	O
onto	O
a	O
physical	O
robot	B-Algorithm
(	O
or	O
rebuilt	O
)	O
without	O
modification	O
.	O
</s>
<s>
The	O
term	O
robotics	B-Application
simulator	I-Application
can	O
refer	O
to	O
several	O
different	O
robotics	B-Application
simulation	I-Application
applications	O
.	O
</s>
<s>
For	O
example	O
,	O
in	O
mobile	O
robotics	O
applications	O
,	O
behavior-based	O
robotics	B-Application
simulators	I-Application
allow	O
users	O
to	O
create	O
simple	O
worlds	O
of	O
rigid	O
objects	O
and	O
light	O
sources	O
and	O
to	O
program	O
robots	B-Algorithm
to	O
interact	O
with	O
these	O
worlds	O
.	O
</s>
<s>
One	O
of	O
the	O
most	O
popular	O
applications	O
for	O
robotics	B-Application
simulators	I-Application
is	O
for	O
3D	O
modeling	O
and	O
rendering	O
of	O
a	O
robot	B-Algorithm
and	O
its	O
environment	O
.	O
</s>
<s>
This	O
type	O
of	O
robotics	O
software	O
has	O
a	O
simulator	O
that	O
is	O
a	O
virtual	O
robot	B-Algorithm
,	O
which	O
can	O
emulate	O
the	O
motion	O
of	O
a	O
physical	O
robot	B-Algorithm
in	O
a	O
real	O
work	O
envelope	O
.	O
</s>
<s>
Some	O
robotics	B-Application
simulators	I-Application
use	O
a	O
physics	O
engine	O
for	O
more	O
realistic	O
motion	O
generation	O
of	O
the	O
robot	B-Algorithm
.	O
</s>
<s>
The	O
use	O
of	O
a	O
robotics	B-Application
simulator	I-Application
to	O
develop	O
a	O
robotics	O
control	O
program	O
is	O
highly	O
recommended	O
regardless	O
of	O
whether	O
a	O
physical	O
robot	B-Algorithm
is	O
available	O
or	O
not	O
.	O
</s>
<s>
The	O
simulator	O
allows	O
for	O
robotics	O
programs	O
to	O
be	O
conveniently	O
written	O
and	O
debugged	O
off-line	O
with	O
the	O
final	O
version	O
of	O
the	O
program	O
tested	O
on	O
a	O
physical	O
robot	B-Algorithm
.	O
</s>
<s>
This	O
applies	O
mainly	O
to	O
industrial	O
robotic	O
applications	O
,	O
since	O
the	O
success	O
of	O
off-line	O
programming	O
depends	O
on	O
how	O
similar	O
the	O
physical	O
environment	O
of	O
a	O
robot	B-Algorithm
is	O
to	O
a	O
simulated	O
environment	O
.	O
</s>
<s>
Sensor-based	O
robot	B-Algorithm
actions	O
are	O
much	O
more	O
difficult	O
to	O
simulate	O
and/or	O
to	O
program	O
off-line	O
,	O
since	O
the	O
robot	B-Algorithm
motion	O
depends	O
on	O
instantaneous	O
sensor	O
readings	O
in	O
the	O
real	O
world	O
.	O
</s>
<s>
Most	O
simulators	O
use	O
Bullet	B-Application
,	O
ODE	B-Application
or	O
PhysX	B-Operating_System
.	O
</s>
<s>
Dynamic	O
robot	B-Algorithm
bodies	O
with	O
scripting	O
.	O
</s>
<s>
C	B-Language
,	O
C++	B-Language
,	O
Perl	B-Language
,	O
Python	B-Language
,	O
Java	B-Language
,	O
URBI	B-Application
,	O
MATLAB	B-Language
languages	O
used	O
by	O
Webots	B-Application
;	O
C++	B-Language
used	O
by	O
Gazebo	B-Language
.	O
</s>
<s>
Simulations	O
with	O
the	O
use	O
of	O
virtual	O
models	O
of	O
the	O
working	O
environment	O
and	O
the	O
robots	B-Algorithm
themselves	O
can	O
offer	O
advantages	O
to	O
both	O
the	O
company	O
and	O
programmer	O
.	O
</s>
<s>
By	O
using	O
a	O
simulation	O
,	O
costs	O
are	O
reduced	O
,	O
and	O
robots	B-Algorithm
can	O
be	O
programmed	O
off-line	O
which	O
eliminates	O
any	O
down-time	O
for	O
an	O
assembly	O
line	O
.	O
</s>
<s>
Robot	B-Algorithm
actions	O
and	O
assembly	O
parts	O
can	O
be	O
visualised	O
in	O
a	O
3-dimensional	O
virtual	O
environment	O
months	O
before	O
prototypes	O
are	O
even	O
produced	O
.	O
</s>
<s>
Writing	O
code	O
for	O
a	O
simulation	O
is	O
also	O
easier	O
than	O
writing	O
code	O
for	O
a	O
physical	O
robot	B-Algorithm
.	O
</s>
<s>
While	O
the	O
move	O
toward	O
virtual	O
simulations	O
for	O
programming	O
robots	B-Algorithm
is	O
a	O
step	O
forward	O
in	O
user	O
interface	O
design	O
,	O
many	O
such	O
applications	O
are	O
only	O
in	O
their	O
infancy	O
.	O
</s>
<s>
Software	O
Developers	O
Development	O
status	O
License	B-License
3D	O
rendering	O
engine	O
Physics	O
engine	O
3D	O
modeller	O
Platforms	O
supportedGazebo	O
Open	O
Source	O
Robotics	O
Foundation	O
(	O
OSRF	O
)	O
Maintenance	O
(	O
EOL	O
2025	O
)	O
OGRE	B-Application
ODE	B-Application
,	O
Bullet	B-Application
,	O
Simbody	O
,	O
DART	O
Internal	O
Linux	O
,	O
macOS	O
,	O
WindowsRoboDK	O
RoboDK	B-Application
Active	O
OpenGL	B-Application
Gravity	O
plug-in	B-Application
Internal	O
Linux	O
,	O
macOS	O
,	O
Windows	O
,	O
Android	O
,	O
iOS	O
,	O
Debian	O
SimSpark	B-Application
O	O
.	O
Obst	O
et	O
al	O
.	O
</s>
<s>
( +26	O
)	O
Active	O
GNU	B-License
GPL	I-License
(	O
v2	O
)	O
Internal	O
ODE	B-Application
None	O
Linux	O
,	O
macOS	O
,	O
WindowsWebots	O
Cyberbotics	O
Ltd	O
.	O
</s>
<s>
Software	O
UGV	O
(	O
ground	O
mobile	O
robot	B-Algorithm
)	O
UAV	O
(	O
aerial	O
robots	B-Algorithm
)	O
AUV	O
(	O
underwater	O
robots	B-Algorithm
)	O
Robotic	O
arms	O
Robotic	O
hands	O
(	O
grasping	O
simulation	O
)	O
Humanoid	O
robots	B-Algorithm
Human	O
avatars	O
Full	O
list	O
Gazebo	B-Language
RoboDK	B-Application
RoboDK	B-Application
robot	B-Algorithm
library	O
SimSpark	B-Application
Webots	B-Application
including	O
Salamander	O
robot	B-Algorithm
including	O
Nao	O
,	O
DARwIn-OP	O
,	O
Fujitsu	O
HOAP2	O
,	O
Kondo	O
KHR-2HV	O
,	O
KHR-3	O
,	O
etc	O
.	O
</s>
