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Basics |
When working with robots, the usage of a simulation is often of significant importance. On the one hand, it enables the evaluation of different alternatives during the design phase of robot systems and may therefore lead to better decisions and cost savings. On the other hand, it supports the process of software development by providing an replacement for robots that are currently not on hand (e. g. broken or used by another person) or not able to endure long running experiments (e. g. learning tasks). Furthermore, the execution of robot programs inside a simulator offers the possibility of directly debugging and testing them. This is a great benefit when working with platforms that do not offer any direct debugging facilities.
Following concepts and features will be described in this chapter: