Gazebo simulation

This software includes a description of the geometry, kinematics and dynamics of the youBot in URDF format and a ROS package to work with this model within the Gazebo simulation environment. URDF (Unified Robot Description Format) is an XML based format used in ROS (Robot Operating System) for representing robot models.

Webots

Real-time simulation of the KUKA youBot in Webots. The robot model contains all DOFs of the robot with an accurate model of the physics, in particular realistic omnidirectional wheels. It can be easily extended by cameras, Hokuyo or Kinect sensors, modified for other configurations and controlled from the Webots API (C/C++/Java/Python/Matlab/URBI) or from ROS.

KUKA youBot kinematics, dynamics and 3D model

In this section you can find a specification of the kinematic chain of the KUKA youBot, its dynamic properties and related 3D models. The 3D model is given in the following formats: .blend (Blender), .dae (Collada), and .stl. 

V-REP

Realistic and efficient simulation of the KUKA youBot in the Virtual Robot Experimentation Platform (V-REP). The robot model, kinematically and dynamically simulated, behaves in a very realistic fashion, especially the omnidirectional wheels (no shaking nor jittering, even on uneven ground). It can be customized and modified at will, and interfaced via C/C++/Lua or any external application.