Design of a simulation framework for evaluation of robot vision and manipulation algorithms

In continuation of our previous work on simulation of robots in a virtual environment, we propose the next version of the simulation framework according to requirements of our ongoing research on algorithms of robot vision and manipulation. A dynamic 3D environment has been created in which the simulated robot is manipulated. Multiple methods to operate the robot are provided including control by input devices, graphical user interface, and program commands. In the current version, visual sensors comprising of simulated stereo cameras are built on the robot to obtain visual input from the virtual world. The interface to the simulator core is made transparent so that the control could directly be shifted to the real hardware platform when algorithms have been successfully tested. The system is designed to be modular and flexible in order to accommodate future extensions and enhancements, such as inclusion of non-visual sensors.