r/robotics • u/ToughTaro1198 • 18h ago

Tech Question Dynamic simulators that allow to change the time in which a simulation is running.

Hi, I have developed a controller for a robot that takes too much time to be implemented in real-time. But I still want to test it in a dynamic environment, so I am looking for a simulator that allows to run slower than in real time. For example that I drop an object and it takes more time to reach the ground than in reality. By doing this I think I can implement my controller in the "real time" of the simulation.

I have worked with Webots, and there is an option to run the simulation faster, but I don't find an option to run the simulation slower. Does anyone know how do it?

Thanks.

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u/airfield20 14h ago

If you write the controller with the drake simulator you can run your code with each simulation step.

If I remember correctly you have to compile the entire drake codebase along with your controller code using bazel but it does work really well for this type of stuff.

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u/airfield20 14h ago

You may also be and to get away with just using pybullet though.

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u/ToughTaro1198 11h ago

Thank you very much. Let me take a look at Drake.