# NAO or ROMEO aldebran robot in V-rep

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Hello guys,

I would like an opinion about the state of the art of 3D simulator. I'm going to work with aldebaran robots NAO and ROMEO and I have to choose a simulation environment where to simulate those robots. The main candidates are:

1) Gazebo / MoveIt

2) V-rep

3) Webots

The real choice is between the first two simulators since they are completely open sources. I would like an opinion from you about these two simulators and if there are existing models of the two robots above-mentioned. In addition, I have to mention that I have to use those simulators also for motion planning (that I see this feature is included in V-rep while I have to use MoveIt for Gazebo).

I really appreciate if you give me an opinion with strength point / drawbacks of each of them from your experience.

Neostek

P.S. Obviously, other simulators are welcome!

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This post is a wiki. Anyone with karma >75 is welcome to improve it.

Hello there,

Since some time now, Aldebaran Robotics is delivering a SDK-simulator allowing you to connect with any simulator.

Best,

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This post is a wiki. Anyone with karma >75 is welcome to improve it.

I do not know very well these simulators, as far as we are concerned, HRP-2 users, we are working with the OpenHRP simulator. This is mainly due to the high fidelity of the dynamics simulation. This is the most crucial part when it comes to human-size humanoid robots. This is crucial for us as these robots are big, costly and powerful.

If you plan on working on control algorithms for humanoid robots then you should first review if other people doing humanoid robotics are using it and how good is the result. Then comes all the other features (ROS integration, sensor simulation, ease of use). The community also is a major factor.

The fact that it is bundled with Nao/Romeo should not be a major criteria for your decision, it is not that hard to port a model from one system to another (or even patching an open-source project to load a new file format is not that difficult either).

Long story short, because of the community size, the fact it is used in the Darpa Challenge (see here) and its nice ROS features among these three simulators I would choose Gazebo. You may also want to consider OpenHRP.

NB: Another nice robotics simulator is MORSE. Unfortunately it is not focused on humanoid robots.

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Just adding an fyi, OpenHRP3 binary package is now available via ROS repository too (you may expect more frequent updates than its original repo): http://wiki.ros.org/openhrp3

( 2014-02-21 16:10:37 -0500 )edit

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Thank you for your answer. OpenHRP simulator seems to be really interesting and I will take a look over it. I really appreciate an opinion on V-Rep since I expect this might be the new simulator for robotics application but I really need someone that already used it for a better understanding about it. Obviously I'm not afraid in developing my own model in any kind of simulator but I'm searching for some advises for humanoid simulation, since I'm a newbie in this field.

Thank you again,

Neostek

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You may be interested to know that we plan to have support for Nao in MORSE in a foreseeable future (required for by the MarDI project that has just started at LAAS-CNRS).

I can not give you any timeframe, but I know it will be worked upon in the coming month (however, it won't simulate accurately dynamics, like OpenHRP, for instance. MORSE is more suited for high-level control).

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Do you have support for Nao in Morse yet?

( 2013-10-28 11:58:05 -0500 )edit

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As far as I know, You can download webots-for-nao from http://www.aldebaran-robotics.com/ with 90 days trial. Aldebaran robotics gives webots simulator with appropriate world files and robot models.

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