机器人控制、仿真或实验，主要由三个部分组成，机器人、环境和算法。

当然各部分又包含很多子部分和功能，这里主要以仿真为主，为了使得仿真结果能够直接应用到实际机器人上，这里分别以RDS和ROS对比介绍。http://download.csdn.net/detail/zhangrelay/9629847

1 机器人

机器人的控制算法主要基于运动学或动力学设计，使机器人在环境中以期望速度或轨迹运动，当然要避障，这与环境相关，放在第二部分。机器人装备传感器感知环境，由算法做出决策，发送到运动执行机构，在加入学习能力之后，可以依据环境做出有利于自身的动态调整，以便于更好的适应环境和完成任务。

RDS：

以P3DX为例：

配置代码如下：

<?xml version="1.0"?><Manifest xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns="http://schemas.microsoft.com/xw/2004/10/manifest.html">  <CreateServiceList>    <ServiceRecordType>      <Contract xmlns="http://schemas.microsoft.com/xw/2004/10/dssp.html">http://schemas.microsoft.com/robotics/2006/04/simulationengine.html</Contract>      <PartnerList xmlns="http://schemas.microsoft.com/xw/2004/10/dssp.html">        <Partner>          <Contract>http://schemas.microsoft.com/robotics/2006/04/simulationengine.html</Contract>          <Service>P3DX.xml</Service>          <PartnerList />          <Name>StateService</Name>        </Partner>      </PartnerList>    </ServiceRecordType>    <ServiceRecordType>      <Contract xmlns="http://schemas.microsoft.com/xw/2004/10/dssp.html">http://schemas.microsoft.com/robotics/simulation/services/2006/05/simulateddifferentialdrive.html</Contract>      <PartnerList xmlns="http://schemas.microsoft.com/xw/2004/10/dssp.html">        <Partner>          <Service>http://localhost/P3DXMotorBase</Service>          <PartnerList />          <Name xmlns:q1="http://schemas.microsoft.com/robotics/2006/04/simulation.html">q1:Entity</Name>        </Partner>      </PartnerList>    </ServiceRecordType>    <ServiceRecordType>      <Contract xmlns="http://schemas.microsoft.com/xw/2004/10/dssp.html">http://schemas.microsoft.com/robotics/simulation/services/2006/05/simulatedlrf.html</Contract>      <PartnerList xmlns="http://schemas.microsoft.com/xw/2004/10/dssp.html">        <Partner>          <Service>http://localhost/P3DXLaserRangeFinder</Service>          <PartnerList />          <Name xmlns:q2="http://schemas.microsoft.com/robotics/2006/04/simulation.html">q2:Entity</Name>        </Partner>      </PartnerList>    </ServiceRecordType>    <ServiceRecordType>      <Contract xmlns="http://schemas.microsoft.com/xw/2004/10/dssp.html">http://schemas.microsoft.com/robotics/simulation/services/2006/05/simulatedbumper.html</Contract>      <PartnerList xmlns="http://schemas.microsoft.com/xw/2004/10/dssp.html">        <Partner>          <Service>http://localhost/P3DXBumpers</Service>          <PartnerList />          <Name xmlns:q3="http://schemas.microsoft.com/robotics/2006/04/simulation.html">q3:Entity</Name>        </Partner>      </PartnerList>    </ServiceRecordType>    <ServiceRecordType>      <Contract xmlns="http://schemas.microsoft.com/xw/2004/10/dssp.html">http://schemas.microsoft.com/2006/09/simulatedwebcam.html</Contract>      <PartnerList xmlns="http://schemas.microsoft.com/xw/2004/10/dssp.html">        <Partner>          <Service>http://localhost/robocam</Service>          <PartnerList />          <Name xmlns:q4="http://schemas.microsoft.com/robotics/2006/04/simulation.html">q4:Entity</Name>        </Partner>      </PartnerList>    </ServiceRecordType>    <ServiceRecordType>      <Contract xmlns="http://schemas.microsoft.com/xw/2004/10/dssp.html">http://schemas.microsoft.com/robotics/simulation/services/2011/01/simulateddepthcam.html</Contract>      <PartnerList xmlns="http://schemas.microsoft.com/xw/2004/10/dssp.html">        <Partner>          <Service>http://localhost/KinectCamera</Service>          <PartnerList />          <Name xmlns:q5="http://schemas.microsoft.com/robotics/2006/04/simulation.html">q5:Entity</Name>        </Partner>      </PartnerList>    </ServiceRecordType>    <ServiceRecordType>      <Contract xmlns="http://schemas.microsoft.com/xw/2004/10/dssp.html">http://schemas.microsoft.com/robotics/2011/01/simulatedwebcamsensor.html</Contract>      <PartnerList xmlns="http://schemas.microsoft.com/xw/2004/10/dssp.html">        <Partner>          <Service>http://localhost/SimulatedWebcam</Service>          <PartnerList />          <Name xmlns:q6="http://schemas.microsoft.com/robotics/2006/04/simulation.html">q6:Entity</Name>        </Partner>      </PartnerList>    </ServiceRecordType>  </CreateServiceList></Manifest>

    <Pioneer3DX xmlns:sim="http://schemas.microsoft.com/robotics/2006/04/simulation.html" xmlns:physm="http://schemas.microsoft.com/robotics/2006/07/physicalmodel.html" xmlns:phys="http://schemas.microsoft.com/robotics/2006/04/simulation/physics.html" xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">      <sim:State>        <sim:Name>P3DXMotorBase</sim:Name>        <sim:Assets>          <sim:Mesh>Pioneer3dx.bos</sim:Mesh>          <sim:Effect>default</sim:Effect>        </sim:Assets>        <sim:Pose>          <physm:Position>            <physm:X>2</physm:X>            <physm:Y>0.077099</physm:Y>            <physm:Z>2</physm:Z>          </physm:Position>          <physm:Orientation>            <physm:X>0</physm:X>            <physm:Y>2.0103019E-07</physm:Y>            <physm:Z>-7.260728E-10</physm:Z>            <physm:W>1</physm:W>          </physm:Orientation>        </sim:Pose>        <sim:Velocity>          <physm:X>-3.3154862E-07</physm:X>          <physm:Y>1.32271339E-07</physm:Y>          <physm:Z>-3.06670131E-07</physm:Z>        </sim:Velocity>        <sim:AngularVelocity>          <physm:X>-4.037088E-06</physm:X>          <physm:Y>-5.273405E-06</physm:Y>          <physm:Z>9.124161E-06</physm:Z>        </sim:AngularVelocity>        <sim:MassDensity>          <phys:Mass>11</phys:Mass>          <phys:InertiaTensor>            <physm:X>0</physm:X>            <physm:Y>0</physm:Y>            <physm:Z>0</physm:Z>          </phys:InertiaTensor>          <phys:CenterOfMass>            <physm:Position>              <physm:X>0</physm:X>              <physm:Y>0</physm:Y>              <physm:Z>0</physm:Z>            </physm:Position>            <physm:Orientation>              <physm:X>0</physm:X>              <physm:Y>0</physm:Y>              <physm:Z>0</physm:Z>              <physm:W>0</physm:W>            </physm:Orientation>          </phys:CenterOfMass>          <phys:Density>0</phys:Density>          <phys:LinearDamping>0</phys:LinearDamping>          <phys:AngularDamping>0</phys:AngularDamping>          <phys:MassLocalPose>            <physm:Position>              <physm:X>0</physm:X>              <physm:Y>0</physm:Y>              <physm:Z>0</physm:Z>            </physm:Position>            <physm:Orientation>              <physm:X>0</physm:X>              <physm:Y>0</physm:Y>              <physm:Z>0</physm:Z>              <physm:W>1</physm:W>            </physm:Orientation>          </phys:MassLocalPose>        </sim:MassDensity>        <sim:Flags>Dynamic</sim:Flags>      </sim:State>      <Flags>None</Flags>      <ChildCount>4</ChildCount>      <ReferenceFrame>Global</ReferenceFrame>      <ServiceContract>http://schemas.microsoft.com/robotics/simulation/services/2006/05/simulateddifferentialdrive.html</ServiceContract>      <EmbeddedResourceAssemblies />      <MeshScale>        <physm:X>1</physm:X>        <physm:Y>1</physm:Y>        <physm:Z>1</physm:Z>      </MeshScale>      <MeshRotation>        <physm:X>0</physm:X>        <physm:Y>0</physm:Y>        <physm:Z>0</physm:Z>      </MeshRotation>      <MeshTranslation>        <physm:X>0</physm:X>        <physm:Y>0</physm:Y>        <physm:Z>0</physm:Z>      </MeshTranslation>      <IsEnabled>true</IsEnabled>      <MotorTorqueScaling>20</MotorTorqueScaling>      <RightWheel>        <sim:State>          <sim:Name>P3DXMotorBase:Right wheel</sim:Name>          <sim:Assets>            <sim:Mesh>PioneerWheel.bos</sim:Mesh>          </sim:Assets>          <sim:Pose>            <physm:Position>              <physm:X>2</physm:X>              <physm:Y>0.077099</physm:Y>              <physm:Z>2</physm:Z>            </physm:Position>            <physm:Orientation>              <physm:X>0</physm:X>              <physm:Y>2.0103019E-07</physm:Y>              <physm:Z>-7.260728E-10</physm:Z>              <physm:W>1</physm:W>            </physm:Orientation>          </sim:Pose>          <sim:Velocity>            <physm:X>0</physm:X>            <physm:Y>0</physm:Y>            <physm:Z>0</physm:Z>          </sim:Velocity>          <sim:AngularVelocity>            <physm:X>0</physm:X>            <physm:Y>0</physm:Y>            <physm:Z>0</physm:Z>          </sim:AngularVelocity>          <sim:MassDensity>            <phys:Mass>0</phys:Mass>            <phys:InertiaTensor>              <physm:X>0</physm:X>              <physm:Y>0</physm:Y>              <physm:Z>0</physm:Z>            </phys:InertiaTensor>            <phys:CenterOfMass>              <physm:Position>                <physm:X>0</physm:X>                <physm:Y>0</physm:Y>                <physm:Z>0</physm:Z>              </physm:Position>              <physm:Orientation>                <physm:X>0</physm:X>                <physm:Y>0</physm:Y>                <physm:Z>0</physm:Z>                <physm:W>0</physm:W>              </physm:Orientation>            </phys:CenterOfMass>            <phys:Density>0</phys:Density>            <phys:LinearDamping>0</phys:LinearDamping>            <phys:AngularDamping>0</phys:AngularDamping>            <phys:MassLocalPose>              <physm:Position>                <physm:X>0</physm:X>                <physm:Y>0</physm:Y>                <physm:Z>0</physm:Z>              </physm:Position>              <physm:Orientation>                <physm:X>0</physm:X>                <physm:Y>0</physm:Y>                <physm:Z>0</physm:Z>                <physm:W>0</physm:W>              </physm:Orientation>            </phys:MassLocalPose>          </sim:MassDensity>          <sim:Flags>Dynamic</sim:Flags>        </sim:State>        <Flags>None</Flags>        <ChildCount>0</ChildCount>        <ReferenceFrame>Global</ReferenceFrame>        <EmbeddedResourceAssemblies />        <MeshScale>          <physm:X>1</physm:X>          <physm:Y>1</physm:Y>          <physm:Z>1</physm:Z>        </MeshScale>        <MeshRotation>          <physm:X>0</physm:X>          <physm:Y>180</physm:Y>          <physm:Z>0</physm:Z>        </MeshRotation>        <MeshTranslation>          <physm:X>0</physm:X>          <physm:Y>0</physm:Y>          <physm:Z>0</physm:Z>        </MeshTranslation>        <WheelShape>          <phys:WheelState>            <phys:Name>P3DXMotorBase/front right wheel</phys:Name>            <phys:ShapeId>Wheel</phys:ShapeId>            <phys:Dimensions>              <physm:X>0</physm:X>              <physm:Y>0</physm:Y>              <physm:Z>0</physm:Z>            </phys:Dimensions>            <phys:Radius>0.08</phys:Radius>            <phys:Material>              <phys:Name>default wheel material</phys:Name>              <phys:Restitution>0</phys:Restitution>              <phys:DynamicFriction>0</phys:DynamicFriction>              <phys:StaticFriction>0</phys:StaticFriction>              <phys:MaterialIndex>497</phys:MaterialIndex>            </phys:Material>            <phys:MassDensity>              <phys:Mass>0.1</phys:Mass>              <phys:InertiaTensor>                <physm:X>0</physm:X>                <physm:Y>0</physm:Y>                <physm:Z>0</physm:Z>              </phys:InertiaTensor>              <phys:CenterOfMass>                <physm:Position>                  <physm:X>0</physm:X>                  <physm:Y>0</physm:Y>                  <physm:Z>0</physm:Z>                </physm:Position>                <physm:Orientation>                  <physm:X>0</physm:X>                  <physm:Y>0</physm:Y>                  <physm:Z>0</physm:Z>                  <physm:W>0</physm:W>                </physm:Orientation>              </phys:CenterOfMass>              <phys:Density>0</phys:Density>              <phys:LinearDamping>0</phys:LinearDamping>              <phys:AngularDamping>0</phys:AngularDamping>              <phys:MassLocalPose>                <physm:Position>                  <physm:X>0</physm:X>                  <physm:Y>0</physm:Y>                  <physm:Z>0</physm:Z>                </physm:Position>                <physm:Orientation>                  <physm:X>0</physm:X>                  <physm:Y>0</physm:Y>                  <physm:Z>0</physm:Z>                  <physm:W>0</physm:W>                </physm:Orientation>              </phys:MassLocalPose>            </phys:MassDensity>            <phys:LocalPose>              <physm:Position>                <physm:X>0.1565</physm:X>                <physm:Y>0.08</physm:Y>                <physm:Z>-0.05</physm:Z>              </physm:Position>              <physm:Orientation>                <physm:X>0.842458248</physm:X>                <physm:Y>0</physm:Y>                <physm:Z>0</physm:Z>                <physm:W>0.5387616</physm:W>              </physm:Orientation>            </phys:LocalPose>            <phys:TextureFileName />            <phys:DiffuseColor>              <physm:X>0.5</physm:X>              <physm:Y>0.5</physm:Y>              <physm:Z>0.5</physm:Z>              <physm:W>1</physm:W>            </phys:DiffuseColor>            <phys:EnableContactNotifications>false</phys:EnableContactNotifications>            <phys:InnerRadius>0.055999998</phys:InnerRadius>            <phys:SuspensionTravel>0</phys:SuspensionTravel>            <phys:Flags>OverrideAxleSpeed</phys:Flags>            <phys:AxleSpeed>0</phys:AxleSpeed>            <phys:BrakeTorque>0</phys:BrakeTorque>          </phys:WheelState>        </WheelShape>        <Rotations>-8.31889248</Rotations>      </RightWheel>      <LeftWheel>        <sim:State>          <sim:Name>P3DXMotorBase:Left wheel</sim:Name>          <sim:Assets>            <sim:Mesh>PioneerWheel.bos</sim:Mesh>          </sim:Assets>          <sim:Pose>            <physm:Position>              <physm:X>2</physm:X>              <physm:Y>0.077099</physm:Y>              <physm:Z>2</physm:Z>            </physm:Position>            <physm:Orientation>              <physm:X>0</physm:X>              <physm:Y>2.0103019E-07</physm:Y>              <physm:Z>-7.260728E-10</physm:Z>              <physm:W>1</physm:W>            </physm:Orientation>          </sim:Pose>          <sim:Velocity>            <physm:X>0</physm:X>            <physm:Y>0</physm:Y>            <physm:Z>0</physm:Z>          </sim:Velocity>          <sim:AngularVelocity>            <physm:X>0</physm:X>            <physm:Y>0</physm:Y>            <physm:Z>0</physm:Z>          </sim:AngularVelocity>          <sim:MassDensity>            <phys:Mass>0</phys:Mass>            <phys:InertiaTensor>              <physm:X>0</physm:X>              <physm:Y>0</physm:Y>              <physm:Z>0</physm:Z>            </phys:InertiaTensor>            <phys:CenterOfMass>              <physm:Position>                <physm:X>0</physm:X>                <physm:Y>0</physm:Y>                <physm:Z>0</physm:Z>              </physm:Position>              <physm:Orientation>                <physm:X>0</physm:X>                <physm:Y>0</physm:Y>                <physm:Z>0</physm:Z>                <physm:W>0</physm:W>              </physm:Orientation>            </phys:CenterOfMass>            <phys:Density>0</phys:Density>            <phys:LinearDamping>0</phys:LinearDamping>            <phys:AngularDamping>0</phys:AngularDamping>            <phys:MassLocalPose>              <physm:Position>                <physm:X>0</physm:X>                <physm:Y>0</physm:Y>                <physm:Z>0</physm:Z>              </physm:Position>              <physm:Orientation>                <physm:X>0</physm:X>                <physm:Y>0</physm:Y>                <physm:Z>0</physm:Z>                <physm:W>0</physm:W>              </physm:Orientation>            </phys:MassLocalPose>          </sim:MassDensity>          <sim:Flags>Dynamic</sim:Flags>        </sim:State>        <Flags>None</Flags>        <ChildCount>0</ChildCount>        <ReferenceFrame>Global</ReferenceFrame>        <EmbeddedResourceAssemblies />        <MeshScale>          <physm:X>1</physm:X>          <physm:Y>1</physm:Y>          <physm:Z>1</physm:Z>        </MeshScale>        <MeshRotation>          <physm:X>0</physm:X>          <physm:Y>0</physm:Y>          <physm:Z>0</physm:Z>        </MeshRotation>        <MeshTranslation>          <physm:X>0</physm:X>          <physm:Y>0</physm:Y>          <physm:Z>0</physm:Z>        </MeshTranslation>        <WheelShape>          <phys:WheelState>            <phys:Name>P3DXMotorBase/front left wheel</phys:Name>            <phys:ShapeId>Wheel</phys:ShapeId>            <phys:Dimensions>              <physm:X>0</physm:X>              <physm:Y>0</physm:Y>              <physm:Z>0</physm:Z>            </phys:Dimensions>            <phys:Radius>0.08</phys:Radius>            <phys:Material>              <phys:Name>default wheel material</phys:Name>              <phys:Restitution>0</phys:Restitution>              <phys:DynamicFriction>0</phys:DynamicFriction>              <phys:StaticFriction>0</phys:StaticFriction>              <phys:MaterialIndex>496</phys:MaterialIndex>            </phys:Material>            <phys:MassDensity>              <phys:Mass>0.1</phys:Mass>              <phys:InertiaTensor>                <physm:X>0</physm:X>                <physm:Y>0</physm:Y>                <physm:Z>0</physm:Z>              </phys:InertiaTensor>              <phys:CenterOfMass>                <physm:Position>                  <physm:X>0</physm:X>                  <physm:Y>0</physm:Y>                  <physm:Z>0</physm:Z>                </physm:Position>                <physm:Orientation>                  <physm:X>0</physm:X>                  <physm:Y>0</physm:Y>                  <physm:Z>0</physm:Z>                  <physm:W>0</physm:W>                </physm:Orientation>              </phys:CenterOfMass>              <phys:Density>0</phys:Density>              <phys:LinearDamping>0</phys:LinearDamping>              <phys:AngularDamping>0</phys:AngularDamping>              <phys:MassLocalPose>                <physm:Position>                  <physm:X>0</physm:X>                  <physm:Y>0</physm:Y>                  <physm:Z>0</physm:Z>                </physm:Position>                <physm:Orientation>                  <physm:X>0</physm:X>                  <physm:Y>0</physm:Y>                  <physm:Z>0</physm:Z>                  <physm:W>0</physm:W>                </physm:Orientation>              </phys:MassLocalPose>            </phys:MassDensity>            <phys:LocalPose>              <physm:Position>                <physm:X>-0.1565</physm:X>                <physm:Y>0.08</physm:Y>                <physm:Z>-0.05</physm:Z>              </physm:Position>              <physm:Orientation>                <physm:X>0.999986649</physm:X>                <physm:Y>0</physm:Y>                <physm:Z>0</physm:Z>                <physm:W>0.00517276628</physm:W>              </physm:Orientation>            </phys:LocalPose>            <phys:TextureFileName />            <phys:DiffuseColor>              <physm:X>0.5</physm:X>              <physm:Y>0.5</physm:Y>              <physm:Z>0.5</physm:Z>              <physm:W>1</physm:W>            </phys:DiffuseColor>            <phys:EnableContactNotifications>false</phys:EnableContactNotifications>            <phys:InnerRadius>0.055999998</phys:InnerRadius>            <phys:SuspensionTravel>0</phys:SuspensionTravel>            <phys:Flags>OverrideAxleSpeed</phys:Flags>            <phys:AxleSpeed>0</phys:AxleSpeed>            <phys:BrakeTorque>0</phys:BrakeTorque>          </phys:WheelState>        </WheelShape>        <Rotations>7.50164652</Rotations>      </LeftWheel>      <ChassisShape>        <phys:BoxState>          <phys:Name>P3DXMotorBase/Chassis</phys:Name>          <phys:ShapeId>Box</phys:ShapeId>          <phys:Dimensions>            <physm:X>0.393</physm:X>            <physm:Y>0.18</physm:Y>            <physm:Z>0.4</physm:Z>          </phys:Dimensions>          <phys:Radius>0</phys:Radius>          <phys:Material>            <phys:Name>high friction</phys:Name>            <phys:Restitution>0</phys:Restitution>            <phys:DynamicFriction>1</phys:DynamicFriction>            <phys:StaticFriction>20</phys:StaticFriction>            <phys:MaterialIndex>495</phys:MaterialIndex>          </phys:Material>          <phys:MassDensity>            <phys:Mass>9</phys:Mass>            <phys:InertiaTensor>              <physm:X>0</physm:X>              <physm:Y>0</physm:Y>              <physm:Z>0</physm:Z>            </phys:InertiaTensor>            <phys:CenterOfMass>              <physm:Position>                <physm:X>0</physm:X>                <physm:Y>0</physm:Y>                <physm:Z>0</physm:Z>              </physm:Position>              <physm:Orientation>                <physm:X>0</physm:X>                <physm:Y>0</physm:Y>                <physm:Z>0</physm:Z>                <physm:W>0</physm:W>              </physm:Orientation>            </phys:CenterOfMass>            <phys:Density>0</phys:Density>            <phys:LinearDamping>0</phys:LinearDamping>            <phys:AngularDamping>0</phys:AngularDamping>            <phys:MassLocalPose>              <physm:Position>                <physm:X>0</physm:X>                <physm:Y>0</physm:Y>                <physm:Z>0</physm:Z>              </physm:Position>              <physm:Orientation>                <physm:X>0</physm:X>                <physm:Y>0</physm:Y>                <physm:Z>0</physm:Z>                <physm:W>0</physm:W>              </physm:Orientation>            </phys:MassLocalPose>          </phys:MassDensity>          <phys:LocalPose>            <physm:Position>              <physm:X>0</physm:X>              <physm:Y>0.14</physm:Y>              <physm:Z>0</physm:Z>            </physm:Position>            <physm:Orientation>              <physm:X>0</physm:X>              <physm:Y>0</physm:Y>              <physm:Z>0</physm:Z>              <physm:W>-1</physm:W>            </physm:Orientation>          </phys:LocalPose>          <phys:TextureFileName />          <phys:DiffuseColor>            <physm:X>0.8</physm:X>            <physm:Y>0.25</physm:Y>            <physm:Z>0.25</physm:Z>            <physm:W>1</physm:W>          </phys:DiffuseColor>          <phys:EnableContactNotifications>false</phys:EnableContactNotifications>        </phys:BoxState>      </ChassisShape>      <CasterWheelShape>        <phys:SphereState>          <phys:Name>P3DXMotorBase/Caster wheel</phys:Name>          <phys:ShapeId>Sphere</phys:ShapeId>          <phys:Dimensions>            <physm:X>0</physm:X>            <physm:Y>0</physm:Y>            <physm:Z>0</physm:Z>          </phys:Dimensions>          <phys:Radius>0.025</phys:Radius>          <phys:Material>            <phys:Name>small friction with anisotropy</phys:Name>            <phys:Restitution>0.5</phys:Restitution>            <phys:DynamicFriction>0.5</phys:DynamicFriction>            <phys:StaticFriction>1</phys:StaticFriction>            <phys:MaterialIndex>494</phys:MaterialIndex>            <phys:Advanced>              <phys:AnisotropicStaticFriction>0.4</phys:AnisotropicStaticFriction>              <phys:AnisotropicDynamicFriction>0.3</phys:AnisotropicDynamicFriction>              <phys:AnisotropyDirection>                <physm:X>0</physm:X>                <physm:Y>0</physm:Y>                <physm:Z>1</physm:Z>              </phys:AnisotropyDirection>              <phys:RestitutionCombineMode>Unspecified</phys:RestitutionCombineMode>              <phys:FrictionCombineMode>Unspecified</phys:FrictionCombineMode>              <phys:Optical />            </phys:Advanced>          </phys:Material>          <phys:MassDensity>            <phys:Mass>2</phys:Mass>            <phys:InertiaTensor>              <physm:X>0</physm:X>              <physm:Y>0</physm:Y>              <physm:Z>0</physm:Z>            </phys:InertiaTensor>            <phys:CenterOfMass>              <physm:Position>                <physm:X>0</physm:X> 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<EmbeddedResourceAssemblies xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html" />      <MeshScale xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">        <physm:X>1</physm:X>        <physm:Y>1</physm:Y>        <physm:Z>1</physm:Z>      </MeshScale>      <MeshRotation xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">        <physm:X>0</physm:X>        <physm:Y>0</physm:Y>        <physm:Z>0</physm:Z>      </MeshRotation>      <MeshTranslation xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">        <physm:X>0</physm:X>        <physm:Y>0</physm:Y>        <physm:Z>0</physm:Z>      </MeshTranslation>      <IsRealTimeCamera xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">true</IsRealTimeCamera>      <UpdateInterval xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">67</UpdateInterval>      <ShadowDisplay xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">ShowShadows</ShadowDisplay>      <CameraModel xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">FirstPerson</CameraModel>      <Near xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">5E-05</Near>      <Far xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">12</Far>      <ViewSizeX xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">640</ViewSizeX>      <ViewSizeY xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">480</ViewSizeY>      <ViewAngle xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">0.780699968</ViewAngle>      <IsPhysicsVisible xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">false</IsPhysicsVisible>      <LookAt xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">        <X>2</X>        <Y>0.53</Y>        <Z>0.71</Z>      </LookAt>      <Location xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">        <X>2</X>        <Y>0.53</Y>        <Z>1.71</Z>      </Location>      <DepthRange>4</DepthRange>    </DepthCameraEntity>    <CameraEntity xmlns:sim="http://schemas.microsoft.com/robotics/2006/04/simulation.html" xmlns:physm="http://schemas.microsoft.com/robotics/2006/07/physicalmodel.html" xmlns:phys="http://schemas.microsoft.com/robotics/2006/04/simulation/physics.html" xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">      <sim:State>        <sim:Name>SimulatedWebcam</sim:Name>        <sim:Assets />        <sim:Pose>          <physm:Position>            <physm:X>0</physm:X>            <physm:Y>0</physm:Y>            <physm:Z>-0.029</physm:Z>          </physm:Position>          <physm:Orientation>            <physm:X>8.72664643E-08</physm:X>            <physm:Y>8.72664643E-08</physm:Y>            <physm:Z>8.726645E-08</physm:Z>            <physm:W>1</physm:W>          </physm:Orientation>        </sim:Pose>        <sim:Velocity>          <physm:X>0</physm:X>          <physm:Y>0</physm:Y>          <physm:Z>0</physm:Z>        </sim:Velocity>        <sim:AngularVelocity>          <physm:X>0</physm:X>          <physm:Y>0</physm:Y>          <physm:Z>0</physm:Z>        </sim:AngularVelocity>        <sim:MassDensity>          <phys:Mass>1</phys:Mass>          <phys:InertiaTensor>            <physm:X>0</physm:X>            <physm:Y>0</physm:Y>            <physm:Z>0</physm:Z>          </phys:InertiaTensor>          <phys:CenterOfMass>            <physm:Position>              <physm:X>0</physm:X>              <physm:Y>0</physm:Y>              <physm:Z>0</physm:Z>            </physm:Position>            <physm:Orientation>              <physm:X>0</physm:X>              <physm:Y>0</physm:Y>              <physm:Z>0</physm:Z>              <physm:W>0</physm:W>            </physm:Orientation>          </phys:CenterOfMass>          <phys:Density>0</phys:Density>          <phys:LinearDamping>0</phys:LinearDamping>          <phys:AngularDamping>0</phys:AngularDamping>          <phys:MassLocalPose>            <physm:Position>              <physm:X>0</physm:X>              <physm:Y>0</physm:Y>              <physm:Z>0</physm:Z>            </physm:Position>            <physm:Orientation>              <physm:X>0</physm:X>              <physm:Y>0</physm:Y>              <physm:Z>0</physm:Z>              <physm:W>1</physm:W>            </physm:Orientation>          </phys:MassLocalPose>        </sim:MassDensity>        <sim:Flags>Dynamic</sim:Flags>      </sim:State>      <Flags>None</Flags>      <ChildCount>0</ChildCount>      <ReferenceFrame>Local</ReferenceFrame>      <ServiceContract>http://schemas.microsoft.com/robotics/2011/01/simulatedwebcamsensor.html</ServiceContract>      <EmbeddedResourceAssemblies />      <MeshScale>        <physm:X>1</physm:X>        <physm:Y>1</physm:Y>        <physm:Z>1</physm:Z>      </MeshScale>      <MeshRotation>        <physm:X>0</physm:X>        <physm:Y>0</physm:Y>        <physm:Z>0</physm:Z>      </MeshRotation>      <MeshTranslation>        <physm:X>0</physm:X>        <physm:Y>0</physm:Y>        <physm:Z>0</physm:Z>      </MeshTranslation>      <IsRealTimeCamera>true</IsRealTimeCamera>      <UpdateInterval>67</UpdateInterval>      <ShadowDisplay>ShowShadows</ShadowDisplay>      <CameraModel>FirstPerson</CameraModel>      <Near>0.001</Near>      <Far>50</Far>      <ViewSizeX>640</ViewSizeX>      <ViewSizeY>480</ViewSizeY>      <ViewAngle>0.780699968</ViewAngle>      <IsPhysicsVisible>false</IsPhysicsVisible>      <LookAt>        <X>2</X>        <Y>0.53</Y>        <Z>0.97</Z>      </LookAt>      <Location>        <X>2</X>        <Y>0.53</Y>        <Z>1.97</Z>      </Location>    </CameraEntity>    <PursuitCameraEntity xmlns:phys="http://schemas.microsoft.com/robotics/2006/04/simulation/physics.html" xmlns:sim="http://schemas.microsoft.com/robotics/2006/04/simulation.html" xmlns:physm="http://schemas.microsoft.com/robotics/2006/07/physicalmodel.html" xmlns="http://schemas.microsoft.com/robotics/entity/2008/04/pursuitcamera.html">      <sim:State>        <sim:Name>PursuitCamera</sim:Name>        <sim:Assets />        <sim:Pose>          <physm:Position>            <physm:X>3.34445143</physm:X>            <physm:Y>2.002601</physm:Y>            <physm:Z>9.239522</physm:Z>          </physm:Position>          <physm:Orientation>            <physm:X>-0.00700437</physm:X>            <physm:Y>0.9677629</physm:Y>            <physm:Z>0.2503048</physm:Z>            <physm:W>0.02708126</physm:W>          </physm:Orientation>        </sim:Pose>        <sim:Velocity>          <physm:X>0</physm:X>          <physm:Y>0</physm:Y>          <physm:Z>0</physm:Z>        </sim:Velocity>        <sim:AngularVelocity>          <physm:X>0</physm:X>          <physm:Y>0</physm:Y>          <physm:Z>0</physm:Z>        </sim:AngularVelocity>        <sim:MassDensity>          <phys:Mass>1</phys:Mass>          <phys:InertiaTensor>            <physm:X>0</physm:X>            <physm:Y>0</physm:Y>            <physm:Z>0</physm:Z>          </phys:InertiaTensor>          <phys:CenterOfMass>            <physm:Position>              <physm:X>0</physm:X>              <physm:Y>0</physm:Y>              <physm:Z>0</physm:Z>            </physm:Position>            <physm:Orientation>              <physm:X>0</physm:X>              <physm:Y>0</physm:Y>              <physm:Z>0</physm:Z>              <physm:W>0</physm:W>            </physm:Orientation>          </phys:CenterOfMass>          <phys:Density>0</phys:Density>          <phys:LinearDamping>0</phys:LinearDamping>          <phys:AngularDamping>0</phys:AngularDamping>          <phys:MassLocalPose>            <physm:Position>              <physm:X>0</physm:X>              <physm:Y>0</physm:Y>              <physm:Z>0</physm:Z>            </physm:Position>            <physm:Orientation>              <physm:X>0</physm:X>              <physm:Y>0</physm:Y>              <physm:Z>0</physm:Z>              <physm:W>1</physm:W>            </physm:Orientation>          </phys:MassLocalPose>        </sim:MassDensity>        <sim:Flags>Dynamic</sim:Flags>      </sim:State>      <Flags xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">None</Flags>      <ChildCount xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">0</ChildCount>      <ReferenceFrame xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">Global</ReferenceFrame>      <MeshScale xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">        <physm:X>1</physm:X>        <physm:Y>1</physm:Y>        <physm:Z>1</physm:Z>      </MeshScale>      <MeshRotation xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">        <physm:X>0</physm:X>        <physm:Y>0</physm:Y>        <physm:Z>0</physm:Z>      </MeshRotation>      <MeshTranslation xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">        <physm:X>0</physm:X>        <physm:Y>0</physm:Y>        <physm:Z>0</physm:Z>      </MeshTranslation>      <IsRealTimeCamera xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">false</IsRealTimeCamera>      <UpdateInterval xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">67</UpdateInterval>      <ShadowDisplay xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">ShowShadows</ShadowDisplay>      <CameraModel xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">FirstPerson</CameraModel>      <Near xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">0.1</Near>      <Far xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">5000</Far>      <ViewSizeX xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">800</ViewSizeX>      <ViewSizeY xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">600</ViewSizeY>      <ViewAngle xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">0.7853982</ViewAngle>      <IsPhysicsVisible xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">false</IsPhysicsVisible>      <LookAt xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">        <X>3.14</X>        <Y>0</Y>        <Z>12.84</Z>      </LookAt>      <Location xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">        <X>3.34</X>        <Y>2</Y>        <Z>9.24</Z>      </Location>      <TargetName>P3DXMotorBase</TargetName>      <MinDistance>4</MinDistance>      <MaxDistance>6</MaxDistance>      <Altitude>2</Altitude>      <PreventOcclusion>true</PreventOcclusion>      <OcclusionThreshold>0.5</OcclusionThreshold>    </PursuitCameraEntity>

ROS：

如果用Gazebo进行机器人三维仿真，可以参考：

机器人模型：http://blog.csdn.net/zhangrelay/article/details/52839752

-----------------------------------------------------------------------------

两者其实没有本质区别，逼真的机器人模型可以用blender等三维软件设计然后导入到环境中，这些文件主要用来配置机器人属性，包括位姿等，以及传感器、电机的具体位姿和其他参数等。

2 环境

机器人运动空间中其他对象共同组成的场景，就是机器人的环境。下面以一个简单环境为例：

环境中有天空、光源、大地和障碍物等，也包括重力、摩擦力的配置，当然也可以设计更为逼真的起伏地形环境。

具体配置文件如下：

<?xml version="1.0" encoding="utf-8"?><SimulationState xmlns:s="http://www.w3.org/2003/05/soap-envelope" xmlns:wsa="http://schemas.xmlsoap.org/ws/2004/08/addressing" xmlns:d="http://schemas.microsoft.com/xw/2004/10/dssp.html" xmlns="http://schemas.microsoft.com/robotics/2006/04/simulation.html">	<Gravity>		<X xmlns="http://schemas.microsoft.com/robotics/2006/07/physicalmodel.html">0</X>		<Y xmlns="http://schemas.microsoft.com/robotics/2006/07/physicalmodel.html">-9.81</Y>		<Z xmlns="http://schemas.microsoft.com/robotics/2006/07/physicalmodel.html">0</Z>	</Gravity>	<RenderMode>Full</RenderMode>	<FramesPerSecond>62.8144646</FramesPerSecond>	<Pause>false</Pause>	<CameraPosition>		<X xmlns="http://schemas.microsoft.com/robotics/2006/07/physicalmodel.html">1.66</X>		<Y xmlns="http://schemas.microsoft.com/robotics/2006/07/physicalmodel.html">2.22</Y>		<Z xmlns="http://schemas.microsoft.com/robotics/2006/07/physicalmodel.html">3.6</Z>	</CameraPosition>	<CameraLookAt>		<X xmlns="http://schemas.microsoft.com/robotics/2006/07/physicalmodel.html">1.2</X>		<Y xmlns="http://schemas.microsoft.com/robotics/2006/07/physicalmodel.html">1.96</Y>		<Z xmlns="http://schemas.microsoft.com/robotics/2006/07/physicalmodel.html">2.75</Z>	</CameraLookAt>	<CameraFieldOfView>0.781</CameraFieldOfView>	<CameraNearPlane>0.1</CameraNearPlane>	<CameraFarPlane>5000</CameraFarPlane>	<Lights />	<SerializedEntities>		<LightSourceEntity xmlns:sim="http://schemas.microsoft.com/robotics/2006/04/simulation.html" xmlns:physm="http://schemas.microsoft.com/robotics/2006/07/physicalmodel.html" xmlns:phys="http://schemas.microsoft.com/robotics/2006/04/simulation/physics.html" xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">			<sim:State>				<sim:Name>Sun</sim:Name>				<sim:Assets />				<sim:Pose>					<physm:Position>						<physm:X>0</physm:X>						<physm:Y>1</physm:Y>						<physm:Z>0</physm:Z>					</physm:Position>					<physm:Orientation>						<physm:X>-0.04912025</physm:X>						<physm:Y>0</physm:Y>						<physm:Z>0.491202474</physm:Z>						<physm:W>0.8696593</physm:W>					</physm:Orientation>				</sim:Pose>				<sim:Velocity>					<physm:X>0</physm:X>					<physm:Y>0</physm:Y>					<physm:Z>0</physm:Z>				</sim:Velocity>				<sim:AngularVelocity>					<physm:X>0</physm:X>					<physm:Y>0</physm:Y>					<physm:Z>0</physm:Z>				</sim:AngularVelocity>				<sim:MassDensity>					<phys:Mass>0</phys:Mass>					<phys:InertiaTensor>						<physm:X>0</physm:X>						<physm:Y>0</physm:Y>						<physm:Z>0</physm:Z>					</phys:InertiaTensor>					<phys:CenterOfMass>						<physm:Position>							<physm:X>0</physm:X>							<physm:Y>0</physm:Y>							<physm:Z>0</physm:Z>						</physm:Position>						<physm:Orientation>							<physm:X>0</physm:X>							<physm:Y>0</physm:Y>							<physm:Z>0</physm:Z>							<physm:W>0</physm:W>						</physm:Orientation>					</phys:CenterOfMass>					<phys:Density>0</phys:Density>					<phys:LinearDamping>0</phys:LinearDamping>					<phys:AngularDamping>0</phys:AngularDamping>				</sim:MassDensity>				<sim:Flags>Dynamic</sim:Flags>			</sim:State>			<Flags>DisableRendering</Flags>			<ChildCount>0</ChildCount>			<ReferenceFrame>Global</ReferenceFrame>			<MeshScale>				<physm:X>1</physm:X>				<physm:Y>1</physm:Y>				<physm:Z>1</physm:Z>			</MeshScale>			<MeshRotation>				<physm:X>0</physm:X>				<physm:Y>0</physm:Y>				<physm:Z>0</physm:Z>			</MeshRotation>			<MeshTranslation>				<physm:X>0</physm:X>				<physm:Y>0</physm:Y>				<physm:Z>0</physm:Z>			</MeshTranslation>			<Type>Directional</Type>			<Color>				<physm:X>1</physm:X>				<physm:Y>1</physm:Y>				<physm:Z>1</physm:Z>				<physm:W>1</physm:W>			</Color>			<SpotUmbra>90</SpotUmbra>			<FalloffStart>0</FalloffStart>			<FalloffEnd>30</FalloffEnd>			<CastsShadows>false</CastsShadows>		</LightSourceEntity>		<CameraEntity xmlns:sim="http://schemas.microsoft.com/robotics/2006/04/simulation.html" xmlns:physm="http://schemas.microsoft.com/robotics/2006/07/physicalmodel.html" xmlns:phys="http://schemas.microsoft.com/robotics/2006/04/simulation/physics.html" xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">			<sim:State>				<sim:Name>MainCamera</sim:Name>				<sim:Assets 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/>					<phys:DiffuseColor>						<physm:X>0.5</physm:X>						<physm:Y>0.5</physm:Y>						<physm:Z>0.5</physm:Z>						<physm:W>1</physm:W>					</phys:DiffuseColor>					<phys:EnableContactNotifications>false</phys:EnableContactNotifications>				</phys:BoxState>			</BoxShape>		</SingleShapeEntity>		<SingleShapeEntity xmlns:sim="http://schemas.microsoft.com/robotics/2006/04/simulation.html" xmlns:physm="http://schemas.microsoft.com/robotics/2006/07/physicalmodel.html" xmlns:phys="http://schemas.microsoft.com/robotics/2006/04/simulation/physics.html" xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">			<sim:State>				<sim:Name>greybox</sim:Name>				<sim:Assets>					<sim:Effect>default</sim:Effect>				</sim:Assets>				<sim:Pose>					<physm:Position>						<physm:X>-2.004857</physm:X>						<physm:Y>0.7489961</physm:Y>						<physm:Z>-1.00070715</physm:Z>					</physm:Position>					<physm:Orientation>						<physm:X>-8.509706E-06</physm:X>						<physm:Y>4.158797E-05</physm:Y>						<physm:Z>-2.693195E-06</physm:Z>						<physm:W>1</physm:W>					</physm:Orientation>				</sim:Pose>				<sim:Velocity>					<physm:X>0</physm:X>					<physm:Y>0</physm:Y>					<physm:Z>0</physm:Z>				</sim:Velocity>				<sim:AngularVelocity>					<physm:X>0</physm:X>					<physm:Y>0</physm:Y>					<physm:Z>0</physm:Z>				</sim:AngularVelocity>				<sim:MassDensity>					<phys:Mass>10</phys:Mass>					<phys:InertiaTensor>						<physm:X>0</physm:X>						<physm:Y>0</physm:Y>						<physm:Z>0</physm:Z>					</phys:InertiaTensor>					<phys:CenterOfMass>						<physm:Position>							<physm:X>0</physm:X>							<physm:Y>0</physm:Y>							<physm:Z>0</physm:Z>						</physm:Position>						<physm:Orientation>							<physm:X>0</physm:X>							<physm:Y>0</physm:Y>							<physm:Z>0</physm:Z>							<physm:W>0</physm:W>						</physm:Orientation>					</phys:CenterOfMass>					<phys:Density>0</phys:Density>					<phys:LinearDamping>0</phys:LinearDamping>					<phys:AngularDamping>0</phys:AngularDamping>				</sim:MassDensity>				<sim:Flags>Dynamic</sim:Flags>			</sim:State>			<Flags>None</Flags>			<ChildCount>0</ChildCount>			<ReferenceFrame>Global</ReferenceFrame>			<MeshScale>				<physm:X>1</physm:X>				<physm:Y>1</physm:Y>				<physm:Z>1</physm:Z>			</MeshScale>			<MeshRotation>				<physm:X>0</physm:X>				<physm:Y>0</physm:Y>				<physm:Z>0</physm:Z>			</MeshRotation>			<MeshTranslation>				<physm:X>0</physm:X>				<physm:Y>0</physm:Y>				<physm:Z>0</physm:Z>			</MeshTranslation>			<BoxShape>				<phys:BoxState>					<phys:Name>greybox</phys:Name>					<phys:ShapeId>Box</phys:ShapeId>					<phys:Dimensions>						<physm:X>1</physm:X>						<physm:Y>1.5</physm:Y>						<physm:Z>0.5</physm:Z>					</phys:Dimensions>					<phys:Radius>0</phys:Radius>					<phys:Material>						<phys:Name>gbox</phys:Name>						<phys:Restitution>0.5</phys:Restitution>						<phys:DynamicFriction>0.4</phys:DynamicFriction>						<phys:StaticFriction>0.5</phys:StaticFriction>						<phys:MaterialIndex>2</phys:MaterialIndex>					</phys:Material>					<phys:MassDensity>						<phys:Mass>10</phys:Mass>						<phys:InertiaTensor>							<physm:X>0</physm:X>							<physm:Y>0</physm:Y>							<physm:Z>0</physm:Z>						</phys:InertiaTensor>						<phys:CenterOfMass>							<physm:Position>								<physm:X>0</physm:X>								<physm:Y>0</physm:Y>								<physm:Z>0</physm:Z>							</physm:Position>							<physm:Orientation>								<physm:X>0</physm:X>								<physm:Y>0</physm:Y>								<physm:Z>0</physm:Z>								<physm:W>0</physm:W>							</physm:Orientation>						</phys:CenterOfMass>						<phys:Density>0</phys:Density>						<phys:LinearDamping>0</phys:LinearDamping>						<phys:AngularDamping>0</phys:AngularDamping>					</phys:MassDensity>					<phys:LocalPose>						<physm:Position>							<physm:X>0</physm:X>							<physm:Y>0</physm:Y>							<physm:Z>0</physm:Z>						</physm:Position>						<physm:Orientation>							<physm:X>0</physm:X>							<physm:Y>0</physm:Y>							<physm:Z>0</physm:Z>							<physm:W>1</physm:W>						</physm:Orientation>					</phys:LocalPose>					<phys:TextureFileName />					<phys:DiffuseColor>						<physm:X>0.5</physm:X>						<physm:Y>0.5</physm:Y>						<physm:Z>0.5</physm:Z>						<physm:W>1</physm:W>					</phys:DiffuseColor>					<phys:EnableContactNotifications>false</phys:EnableContactNotifications>				</phys:BoxState>			</BoxShape>		</SingleShapeEntity>		<SingleShapeEntity xmlns:sim="http://schemas.microsoft.com/robotics/2006/04/simulation.html" xmlns:physm="http://schemas.microsoft.com/robotics/2006/07/physicalmodel.html" xmlns:phys="http://schemas.microsoft.com/robotics/2006/04/simulation/physics.html" xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">			<sim:State>				<sim:Name>bluesphere</sim:Name>				<sim:Assets>					<sim:Effect>default</sim:Effect>				</sim:Assets>				<sim:Pose>					<physm:Position>						<physm:X>-2</physm:X>						<physm:Y>0.799</physm:Y>						<physm:Z>-3</physm:Z>					</physm:Position>					<physm:Orientation>						<physm:X>0</physm:X>						<physm:Y>0</physm:Y>						<physm:Z>-9.713688E-08</physm:Z>						<physm:W>1</physm:W>					</physm:Orientation>				</sim:Pose>				<sim:Velocity>					<physm:X>0</physm:X>					<physm:Y>0</physm:Y>					<physm:Z>0</physm:Z>				</sim:Velocity>				<sim:AngularVelocity>					<physm:X>0</physm:X>					<physm:Y>0</physm:Y>					<physm:Z>0</physm:Z>				</sim:AngularVelocity>				<sim:MassDensity>					<phys:Mass>10</phys:Mass>					<phys:InertiaTensor>						<physm:X>0</physm:X>						<physm:Y>0</physm:Y>						<physm:Z>0</physm:Z>					</phys:InertiaTensor>					<phys:CenterOfMass>						<physm:Position>							<physm:X>0</physm:X>							<physm:Y>0</physm:Y>							<physm:Z>0</physm:Z>						</physm:Position>						<physm:Orientation>							<physm:X>0</physm:X>							<physm:Y>0</physm:Y>							<physm:Z>0</physm:Z>							<physm:W>0</physm:W>						</physm:Orientation>					</phys:CenterOfMass>					<phys:Density>0</phys:Density>					<phys:LinearDamping>0</phys:LinearDamping>					<phys:AngularDamping>0</phys:AngularDamping>				</sim:MassDensity>				<sim:Flags>Dynamic</sim:Flags>			</sim:State>			<Flags>None</Flags>			<ChildCount>0</ChildCount>			<ReferenceFrame>Global</ReferenceFrame>			<MeshScale>				<physm:X>1</physm:X>				<physm:Y>1</physm:Y>				<physm:Z>1</physm:Z>			</MeshScale>			<MeshRotation>				<physm:X>0</physm:X>				<physm:Y>0</physm:Y>				<physm:Z>0</physm:Z>			</MeshRotation>			<MeshTranslation>				<physm:X>0</physm:X>				<physm:Y>0</physm:Y>				<physm:Z>0</physm:Z>			</MeshTranslation>			<SphereShape>				<phys:SphereState>					<phys:Name>bluesphere</phys:Name>					<phys:ShapeId>Sphere</phys:ShapeId>					<phys:Dimensions>						<physm:X>0</physm:X>						<physm:Y>0</physm:Y>						<physm:Z>0</physm:Z>					</phys:Dimensions>					<phys:Radius>0.8</phys:Radius>					<phys:Material>						<phys:Name>bphere</phys:Name>						<phys:Restitution>0.5</phys:Restitution>						<phys:DynamicFriction>0.4</phys:DynamicFriction>						<phys:StaticFriction>0.5</phys:StaticFriction>						<phys:MaterialIndex>3</phys:MaterialIndex>					</phys:Material>					<phys:MassDensity>						<phys:Mass>10</phys:Mass>						<phys:InertiaTensor>							<physm:X>0</physm:X>							<physm:Y>0</physm:Y>							<physm:Z>0</physm:Z>						</phys:InertiaTensor>						<phys:CenterOfMass>							<physm:Position>								<physm:X>0</physm:X>								<physm:Y>0</physm:Y>								<physm:Z>0</physm:Z>							</physm:Position>							<physm:Orientation>								<physm:X>0</physm:X>								<physm:Y>0</physm:Y>								<physm:Z>0</physm:Z>								<physm:W>0</physm:W>							</physm:Orientation>						</phys:CenterOfMass>						<phys:Density>0</phys:Density>						<phys:LinearDamping>0</phys:LinearDamping>						<phys:AngularDamping>0</phys:AngularDamping>					</phys:MassDensity>					<phys:LocalPose>						<physm:Position>							<physm:X>0</physm:X>							<physm:Y>0</physm:Y>							<physm:Z>0</physm:Z>						</physm:Position>						<physm:Orientation>							<physm:X>0</physm:X>							<physm:Y>0</physm:Y>							<physm:Z>0</physm:Z>							<physm:W>1</physm:W>						</physm:Orientation>					</phys:LocalPose>					<phys:TextureFileName />					<phys:DiffuseColor>						<physm:X>0.4</physm:X>						<physm:Y>0.3</physm:Y>						<physm:Z>0.7</physm:Z>						<physm:W>1</physm:W>					</phys:DiffuseColor>					<phys:EnableContactNotifications>false</phys:EnableContactNotifications>				</phys:SphereState>			</SphereShape>		</SingleShapeEntity>	</SerializedEntities></SimulationState>

1 http://blog.csdn.net/zhangrelay/article/details/52842627

2 http://blog.csdn.net/ZhangRelay/article/details/52842761

3 算法

算法是机器人设计的核心，由编程语言实现。不论RDS和ROS都提供了非常丰富的接口，可以使用几乎所有主流语言进行算法设计，同时，都提供了图形化编程方式，极大降低入门难度。

这里不涉及算法具体实现和说明，依据用途不同，有环境建模功能的，如SLAM等；也包括任务规划算法，还有物体分类识别，语音交互等，差别太大，依据需要自学。

RDS：

ROS:

http://blog.csdn.net/zhangrelay/article/details/53020569

依靠可视化图形编程，机器人编程能立刻普及到小学和幼儿园！

除此之外，RDS推荐C#和SPL，ROS推荐C++和Python，分别为编译型和解释型。

ROS indigo： http://blog.csdn.net/column/details/13335.html

ROS Kinetic： http://blog.csdn.net/column/details/13113.html

浅谈机器人控制与仿真设计----RDS和ROS