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PyDSLRep: A domain-specific language for robotic simulation in V-Rep.

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This study introduces PyDSLRep, a domain-specific language that significantly reduces development time and code complexity for controlling mobile robotic agents in simulations. PyDSLRep streamlines robot kinematics calculations, improving efficiency in robotic development.

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Area of Science:

  • Robotics
  • Simulation
  • Software Engineering

Background:

  • Calculating robot kinematics is time-intensive and prone to errors during simulation.
  • Directly validating code on robots risks damage, while simulation uses non-native instructions, extending development.

Purpose of the Study:

  • To present PyDSLRep, a domain-specific language designed to simplify the control and movement manipulation of mobile robotic agents.
  • To evaluate the effectiveness of PyDSLRep in reducing development time and code complexity compared to existing frameworks.

Main Methods:

  • Developed PyDSLRep, a domain-specific language for mobile robot movement in the V-Rep simulation environment.
  • Tested PyDSLRep across three environments with twenty participants, comparing it against the V-Rep Python framework.

Main Results:

  • PyDSLRep reduced average development time by 45.22%.
  • PyDSLRep decreased the lines of code by 76.40% compared to the V-Rep Python framework.
  • User testing confirmed PyDSLRep's efficiency and ease of use.

Conclusions:

  • PyDSLRep offers a significant improvement in development efficiency for robotic simulations.
  • Domain-specific languages like PyDSLRep are valuable tools for simplifying complex robotics tasks and reducing development overhead.