PyBullet Industrial: A process-aware robot simulation

"The trend towards individualized products and the increasing demand for a greater number of
variants require a rethinking in the production engineering environment. In the context of this
transformation, we see robots taking on more and more manufacturing tasks (Mühlbeier et
al., 2021). The development of this field is hampered by a toolchain gap: While there are a
large number of robot simulations and process simulations there is not yet a simple simulation
environment that combines the two and allows the user to investigate the interplay of both.
Process simulation in this case refers to the simulation of manufacturing processes which
according to (Mourtzis et al., 2014) is defined as the use of one or more physical mechanisms
to transform the shape and/or form of a workpiece. While process simulation is a vast field
that studies different levels of detail, we focus on the simulation of how the process affects the
environment and the robot.
To meet this challenge we developed PyBullet Industrial. This Python package extends
the open-source multi-body physics package PyBullet with manufacturing process models
to simulate manufacturing applications that add material, remove material or simply move
... mehr
material. A sample of concrete manufacturing applications in each category can be seen in
Figure 3."