Advancement in Multi-body Physics Modeling for 3D Graphical Robot Simulators
In this paper we present an interface to develop a communication between two different simulators: Gazebo, aiming at scene realism, and OpenModelica, focused on accurate dynamic simulation. This communication allows us to create a cooperative simulation loop, having a single shared simulated environment, and exploiting the best characteristics of each simulation.
KeywordsMulti-body simulation 3D simulation Gazebo OpenModelica
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