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Acroba Gym: A Unity-Based ROS Compliant Simulator for Robotics

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European Robotics Forum 2024 (ERF 2024)

Part of the book series: Springer Proceedings in Advanced Robotics ((SPAR,volume 32))

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Abstract

This paper presents a cross-platform, ROS compliant and versatile virtual gym, which provides a visually appealing simulated environment with high-fidelity to validate robotic systems without the need for physical hardware and support training/testing artificial intelligence models with robots in a controlled digital space. The presented virtual gym is built based on Unity with seamlessly integrated with the ROS, where the main contributions are centered around following key aspects: simulated scene definition, features on robot/sensor/tools simulation and machine learning integration.

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Acknowledgement

This research was carried out within the project ACROBA which has received funding from the European Union’ Horizon 2020 research and innovation programme, under grant agreement No 101017284.

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Correspondence to Marco Ojer .

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© 2024 The Author(s), under exclusive license to Springer Nature Switzerland AG

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Ojer, M., Lin, X., Mendizabal-Arrieta, I., Tammaro, A. (2024). Acroba Gym: A Unity-Based ROS Compliant Simulator for Robotics. In: Secchi, C., Marconi, L. (eds) European Robotics Forum 2024. ERF 2024. Springer Proceedings in Advanced Robotics, vol 32. Springer, Cham. https://doi.org/10.1007/978-3-031-76424-0_41

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