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WWW-POSIM / Simulator documentation

Try a robot, then upload a model

Start with WAM-V or BlueROV before changing a robot model.

Try it step by step

  1. Open Workspace and choose the built-in WAM-V or BlueROV model.
  2. Start the world and check that the robot and sensors work.
  3. For your own model, open Workspace → Robots and upload an SDF file or a ZIP containing SDF and meshes. SDF is a text file describing a robot.
  4. Check the validation result, save the revision and select it when creating a new world.

Advanced: details and reference

Upload a model

Upload an SDF file or a ZIP with SDF and meshes.

Limit Web Desktop
File upload 20 MB 200 MB
Expanded contents 50 MB 500 MB
Root SDF 1 MB 1 MB

Use relative mesh paths within the ZIP. Include links, collision geometry and inertia. Validation checks archive paths and supported plugins; external executables are rejected.

Choose the uploaded revision when starting a new world. Sensor/mount changes require restarting the world. Revisions used by queued or active sessions cannot be archived. Archive hides a revision without deleting its stored data.

Change mass and inertia

Edit the SDF in the robot editor. Check mass, center of mass, inertia tensor, collision shape and mesh scale together. Save a new revision, then test a short stationary and low-speed run before a longer route. An unrealistically small inertia tensor can cause rapid motion or instability even if the mesh looks correct.

<inertial>
  <mass>12.0</mass>
  <inertia>
    <ixx>0.22</ixx><iyy>0.35</iyy><izz>0.40</izz>
    <ixy>0</ixy><ixz>0</ixz><iyz>0</iyz>
  </inertia>
</inertial>

These numbers are an illustrative syntax example, not a calibrated model. Use measured dimensions/mass or a CAD calculation. Validate inertia for positive definiteness and units in kg·m².

Add sensors or ROS packages

Define sensor placement and settings in SDF, then start a new session. The sensor tree displays generated topics. Configure Autopilot and thruster connections in the runtime profile.

Run autonomy code and ROS dependencies locally through the ROS relay. Native plugins or server ROS nodes require a runtime profile with compatible dependencies.

Storage

Models, source ZIPs and revisions count towards account storage limits, including archived files. Remove duplicate meshes and unnecessary assets to fit the upload limit.

Autopilot parameters

Disarm before changing Autopilot values in Advanced parameters, then read them back. See parameters and performance.

Use your own STL

Export a closed, triangulated STL from CAD and place it next to model.sdf in a ZIP:

my-robot.zip
  model.sdf
  meshes/hull.stl

STL does not carry units. Export in metres, or set an explicit scale (for example 0.001 0.001 0.001 for millimetres). Reference the bundled file from a visual:

<visual name="hull_visual">
  <geometry><mesh>
    <uri>meshes/hull.stl</uri>
    <scale>1 1 1</scale>
  </mesh></geometry>
</visual>

Use boxes, cylinders or a reduced closed mesh for collision. Define mass and inertia in the link's <inertial>. Include sensors, actuators and hydrodynamics in SDF/runtime configuration, then connect the controller to command topics.

Upload in Workspace → Robots and check validation. Select the saved revision when starting a world.