robovast-sim-roqsim

A physics simulator for your robot tests, selected by one word.

RoboVAST runs robot software through hundreds of varied, recorded simulation runs — and needs something to simulate them in. roqsim is a MuJoCo-based simulator with a ROS 2 bridge and ready-made robots (wheeled bases such as the TurtleBot 4, arms and grippers, quadrupeds, humanoids), sensors (lidar, cameras, depth, IMU, force-torque), generated floorplans and walking pedestrians, built to run headless and in numbers. This package makes it a RoboVAST backend: a campaign names it, and the image, the command, the recording setup and how the run is driven and observed all follow.

execution:
  mode: ros2
  containers:
    simulation:
      backend: roqsim
      config: worlds/depot.yaml

pip install "robovast[roqsim]"

Is this the package for me?

Yes, if you want a simulator that comes with the robots and sensors already in it, so that a campaign is about your stack and your variation rather than about building a world first. Your own worlds, robot models and plugins travel with the project; the simulator does not have to.

RoboVAST itself names no simulator — pip install robovast gets you nothing from here — so a backend is always something you add: this one, or your own, the same way.

Documentation: cps-test-lab.github.io/robovast, "Simulators"; roqsim itself at cps-test-lab.github.io/roqsim.

Licence

Apache-2.0.