A screenshot of the environment viewer program, with the new GTKmm based GUI. The environment loaded contains three manipulators on fixed platforms. The left one is shown with visualization graphics for the simulated link proximity sensor collision regions.

This is a shot of the graphical utility 'poscontrol' running. It can load an XML description of a basic environment and simulate it using physics. It allows the direct control of the joint-space parameters of the first robot and its first manipulator. The basic environment descriptions, thus far, consist of specifications of simple obstacles (spheres, boxes etc.); one or more robots each with one or more serial manipulators; and some 'tools' (which can be arbitrary length serial chains that are dynamically attached or detached from a manipulator end-effector). The serial chain manipulators are typically specified using DH-parameter notation, and the graphics just displays a box between the link origins. In a later version I intend to allow arbitrary 3D models for the links. The robot in this particular shot has a non-holonomic base (approx. the size of a HMMV)

This is the first screen-shot from Opensim. As you can see the graphics is very basic. This is a shot of a manipulator position control test. The manipulator links are specificed in a file using D-H parameter notation.