The DRC Simulator is being developed by the Open Source Robotics Foundation
(OSRF). Built on the powerful Gazebo software package, the DRC Simulator will
function as both a means of controlling the simulated robot and as a
pass-through for controlling the physical robot during the DRC Trials and the DRC Finals.
The DRC Simulator supplier will manage an open-source effort
where the simulator, robot models, and environment models are developed and
improved by the supplier as well as by contributors throughout the world.
Features of the simulator (not all implemented yet) include the following:
- Models the three-dimensional environment
- Allows developers to import kinematic, dynamic, and sensor models of a
- Allows users to send commands (identical to those sent to a physical
robot) over a network to and receive data (similar to that received from a
physical robot) from the simulated robot
- Uses physics-based models of inertia, actuation, contact, and environment
dynamics to simulate the robot's motion
- Runs in real-time on the "cloud"
- Cloud computing resources will be funded by DARPA for at least 100
You can find all the needed information on how to download, install and run
the DRC simulator at http://gazebosim.org/wiki/InstallDRC