Welcome to the USARSim wiki!
|USARSim (Unified System for Automation and Robot Simulation) is a high-fidelity simulation of robots and environments based on the Unreal Tournament game engine. It is intended as a general purpose research tool with applications ranging from human computer interfaces to behavior generation for groups of heterogeneous robots. In addition to research applications, USARSim is the basis for the RoboCup rescue virtual robot competition (RoboCup) as well as the IEEE Virtual Manufacturing Automation Competition (VMAC). USARSim may be downloaded from here.|
Please note: This page has been replaced by our new site!
For help with installing or running USARSim, please try creating a new item in one of our forums. The forums may be found here.
06/14/2011 - Very basic USARSim for UDK is now up and running. Keep tuned to this space for more information.
06/08/2011 - Started experimental version of USARSim, based on the open source version of the Unreal Engine UDK. This version uses static meshes instead of skeletal meshes, to prevent collisions problems which were present in the UT3 version. The UKD-version is stored as a git repository (UT3 as svn repository, UT2004 as cvs repository).
01/03/2011 - The Scoring Tool for the 2011 competition is available in the Tools section.
01/12/2010 - Fixes to the Alpha release of the VMA competition codebase released. This allows for a functioning gripper and more accurate Cartesian arm control. For an example of mixed palletizing, run the Conveyor world and the MOAST script vmac.sh from MOAST's bin directory.
12/26/2009 - New Beta version of USARSim released. This version contains new robot arms, controllable conveyors, and a world controller that allows for the creation of objects during game play. This release is considered the Alpha release of the Virtual Manufacturing Automation Competition code base. See VMAC for more information.
11/03/2009 - Beta release of USARSim for Unreal Tournament 3 released (version B1.1). See the release area to download this release. Please note that this is a beta and frequent modifications are expected. To obtain the more recent version of this code it is recommended that you check it out of SVN.
11/03/2009 - We need help! A task list has been posted at Migration to UT3. This list contains the known items that must be ported to the new game engine. Please support the community and sign up for a task. If you have questions or would like to sign up, please send an email to roboSim@nist.gov
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FAQ: Frequently Asked Questions
News: latest releases, events, ...
Manuals: Manuals for releases of USARSim
Tutorials: Tutorials for various aspects of USARSim
Competitions that utilize USARSim
Currently two international competitions (that we know of) utilize USARSim as their simulation framework. Links to their sites are provided below. The competitions utilize various evaluation tools that researchers may find useful for evaluating their own research. More information on the evaluation tools may be found on the Algorithm Performance Evaluation page.