[Opensim-dev] robot simulation

[Jordi]

Hi,

I am collaborating in the development of a robotic simulator (
http://playerstage.sourceforge.net/wiki/Gazebo).
I wanted to add a multiuser mode oriented to allow competitions. Searching
around I have found OpenSim.

I have being asking about this in the chat channel and basically OpenSim
lacks and needs to accommodate this kind of simulator at least the
following:

- realistic physic simulation (IMHO
http://www.adrianboeing.com/pal/index.html is the way to go)
- sensors: cameras (multicameras), lasers, contact, gyroscopes, temperature,
microphones, GPS , etc.
- joints, articulated bodies
- code to make articulated bodies move, reach etc using the joints and the
physic
- External interfaces so that programs can control all that (in their own
process without using scripting )


What OpenSim has that our simulator lacks is :
- multiuser environment
- project visibility
- Tons of tools, models, etc
- Scripting
- good navigation system in the world


I am considering switching efforts to OpenSim but I want to know if invasive
changes like those would be welcomed. Keep in mind that the simulation will
be much more computer intensive. Also, maintaining the interfaces for
external programs can be tedious and get few users.
Also, it seems that OpenViewer is in an early stage of development. Some of
those changes would need support from the client.

Any comments welcomed.
Mostly: it would be welcomed? Anyone interested in helping with this?

bests,

-- 
Jordi Polo Carres
NLP laboratory - NAIST
http://www.bahasara.org
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