Advancement in Multi-body Physics Modeling for 3D Graphical Robot Simulators

Gianluca Bardaro, Luca Bascetta, Francesco Casella, Matteo Matteucci

Abstract: 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.