All features
imSim features at a glance
Grouped by the parts that make up a test and the foundation beneath them. Dots mark the domains that use each feature. Select a feature name to open a one-line description.
These are features of the solution. For what you can use in this portal right now, see How to use.
Select a domain to show only the features it uses.
Test subject
Robot · AI to test
| Features | Robot armRobot arm | Delivery robotsDelivery robots | DronesDrones | Humanoid · leggedHumanoid · legged | Equipment operationsEquipment operations |
|---|---|---|---|---|---|
| Tests grasping, moving, insertion and collecting parts. | Used | Not used | Not used | Not used | Not used |
| Tests driving, precision stopping and recovery when blocked. | Not used | Used | Not used | Not used | Not used |
| Divides work across multiple robots and drone formations and moves them together. | Not used | Used | Used | Not used | Not used |
| Tests flight missions of multicopters, fixed-wing aircraft and urban air vehicles. | Not used | Not used | Used | Not used | Not used |
| Tests humanoid whole-body manipulation and legged-robot locomotion policies. | Not used | Not used | Not used | Used | Not used |
| Adds a new robot as a test subject with one settings file. The scoring code stays unchanged; each robot needs kinematic data cleanup and calibration. | Used | Used | Used | Used | Not used |
| Attaches trained neural network policies to robots for testing, and trains policies with reinforcement learning. | Used | Not used | Not used | Used | Not used |
| Connects the AI on your server to a test and records in the result whether the AI was connected. | Used | Used | Not used | Not used | Not used |
| Estimates object pose to grasp and plans collision-free motion. Held objects are not yet included in planning. | Used | Not used | Not used | Not used | Not used |
| Drives real robot arms (PiPER, SO-101) and calibrates cameras to compare simulation with the real robot. | Used | Not used | Not used | Not used | Not used |
| Collects demonstrations into training data, trains further, then re-scores on the same test. Scope is set by agreement. | Used | Not used | Not used | Not used | Not used |
Test environment
Where to test
| Features | Robot armRobot arm | Delivery robotsDelivery robots | DronesDrones | Humanoid · leggedHumanoid · legged | Equipment operationsEquipment operations |
|---|---|---|---|---|---|
| Choose from indoor, outdoor, terrain and work cell environments. | Used | Used | Used | Used | Used |
| Builds real Korean terrain and cities from digital maps and elevation data. | Not used | Used | Used | Not used | Not used |
| Builds facilities from building drawings (BIM, CAD) for testing. | Not used | Not used | Not used | Not used | Used |
| Builds a physics test environment, navigation map and web scene from one site design file. Some device actuation values are assumed. | Not used | Used | Not used | Not used | Not used |
| Edits and assembles assets with physical properties to compose and inspect scenes. | Used | Used | Not used | Not used | Used |
| Places and removes static or moving obstacles. | Not used | Used | Not used | Used | Not used |
| Tests in the same place with different lighting, time of day and weather. | Not used | Used | Used | Used | Not used |
Scenario
Task to perform
| Features | Robot armRobot arm | Delivery robotsDelivery robots | DronesDrones | Humanoid · leggedHumanoid · legged | Equipment operationsEquipment operations |
|---|---|---|---|---|---|
| Robots, environments, tasks and verdicts are written in a scenario language based on OpenSCENARIO 2. New tests that combine existing actions need no code changes. | Not used | Used | Used | Used | Used |
| Waits, branches and retries in response to collisions, zone entry, battery, time and distance. | Not used | Used | Used | Not used | Not used |
| Build scenarios with a step-by-step wizard, drag-and-drop editing, behavior trees and AI design assistance. | Not used | Used | Not used | Not used | Not used |
| Groups runs for repetition, compares runs with each other and checks hypotheses registered in advance. | Used | Used | Not used | Not used | Not used |
| Switches cameras per stage, follows targets and keeps sensor recordings alongside. | Used | Used | Used | Not used | Not used |
| Drives along sidewalks, stops at parcel lockers, and operates truck lifts and locker compartment doors. Parcel handover actions are not yet available. | Not used | Used | Not used | Not used | Not used |
| Tests patrol, surveillance, search, wildfire suppression, facility inspection and urban air missions. | Not used | Not used | Used | Not used | Not used |
| Factory tasks such as equipment diagnosis, maintenance work, part handover and bolt fastening are available as scenario actions. Some actions have not yet been confirmed in a run. | Not used | Not used | Not used | Not used | Used |
Conditions
Conditions you can apply
| Features | Robot armRobot arm | Delivery robotsDelivery robots | DronesDrones | Humanoid · leggedHumanoid · legged | Equipment operationsEquipment operations |
|---|---|---|---|---|---|
| Injects sensor faults · noise · degradation. | Not used | Used | Used | Used | Not used |
| Injects positioning signal errors, denial and spoofed signals. | Not used | Used | Used | Not used | Not used |
| Cuts communication or applies radio interference (jamming). | Not used | Not used | Used | Not used | Not used |
| Varies lighting, materials and physics parameters per trial and adds physics noise. | Used | Used | Not used | Not used | Not used |
| Adds hazardous conditions such as smoke or fire to the scene. | Not used | Not used | Used | Not used | Not used |
| Requests human approval before autonomous actions and allows a veto within a set time. | Not used | Not used | Used | Not used | Not used |
| Defines zones that protect people and equipment and links intrusions to the verdict. | Used | Used | Not used | Used | Not used |
| Produces thermal images with an infrared radiation model and thermal cameras. | Not used | Not used | Used | Not used | Not used |
Verdicts
Scoring method
| Features | Robot armRobot arm | Delivery robotsDelivery robots | DronesDrones | Humanoid · leggedHumanoid · legged | Equipment operationsEquipment operations |
|---|---|---|---|---|---|
| Each run gets one verdict. Items that could not be measured do not count as Pass. | Used | Used | Used | Used | Used |
| Revokes the score for successes achieved by disabling physics, attaching the object to the hand or lifting without physics. | Used | Not used | Not used | Not used | Not used |
| Scores multiple robots repeatedly in the same work cell against the same clauses, and re-measures against a fixed baseline. | Used | Not used | Not used | Not used | Not used |
| Distance, time, speed, tilt, collision and waypoint criteria are written in the scenario and judged exactly as written. | Not used | Used | Used | Used | Not used |
| Measures collisions, emergency stop failures, failure to stop when a person approaches, and time to collision. | Used | Used | Not used | Used | Not used |
| Judges some measurement items of robot safety and performance standards (ISO 10218, ISO 3691-4, ISO 13482, ISO 9283) clause by clause. Coverage varies by clause; these are reference verdicts, not certification. | Used | Used | Not used | Not used | Not used |
| Re-runs the scorer on tests that must Fail and on ground-truth sets to confirm its ability to discriminate is intact. | Used | Not used | Not used | Not used | Not used |
| Checks that the test subject model's specifications match the manufacturer's confirmed values and that the loaded policy weights are exactly the trained ones. | Used | Not used | Not used | Used | Not used |
| Verdict records are appended to a chained log (hash chain), so editing, removing, inserting or reordering intermediate records is exposed. Truncation at the end is exposed only with an external anchor. | Used | Not used | Not used | Not used | Not used |
| Every verdict document must state the measurement scope and whether imSim took part in adaptation. If either is missing, the document is not generated. | Used | Not used | Not used | Not used | Not used |
| Produces a report, measurement confidence and post-run review material for each run. | Used | Used | Not used | Not used | Used |
| Scores external detectors on defects with known ground truth, and compares detection rankings between simulation and real measurements. | Not used | Not used | Used | Not used | Not used |
| Checks mode by mode whether equipment operates as specified in the equipment simulation. As this is not a physical measurement, the verdict is recorded as pending. | Not used | Not used | Not used | Not used | Used |
| Provides condition detection, health assessment, remaining useful life prediction and recommended actions. | Not used | Not used | Not used | Not used | Used |
Run · connection
The foundation behind every test
| Features | Robot armRobot arm | Delivery robotsDelivery robots | DronesDrones | Humanoid · leggedHumanoid · legged | Equipment operationsEquipment operations |
|---|---|---|---|---|---|
| Tests with a freshly launched physics engine (PhysX) and sensor rendering for every run. | Used | Used | Used | Used | Not used |
| Runs the same test in MuJoCo as well and compares results. | Used | Not used | Not used | Used | Not used |
| Receives and checks run requests and distributes them across multiple compute machines. Can also be installed on a closed network inside your company. | Used | Used | Used | Used | Used |
| Access uses single sign-on, organization membership and role-based permissions, and is blocked if not verified. | Used | Not used | Not used | Not used | Used |
| Watch the running test as live video. | Used | Used | Used | Not used | Not used |
| Connects robot software to tests via ROS2 and Zenoh. Direct external connections are not yet open. | Used | Used | Used | Not used | Not used |
| Exports test recordings (robot cameras, state, actions) as training data in LeRobot and RLDS formats. | Used | Not used | Not used | Used | Not used |
| Monitors and controls delivery robots, drives them virtually on the web, and compares planned and actual paths. | Not used | Used | Not used | Not used | Not used |
| Shows equipment status and history on one screen, opens remote support, and manages on-site data collection devices and virtual devices. | Not used | Not used | Not used | Not used | Used |
| Creates and edits equipment definition files and converts asset formats. | Not used | Not used | Not used | Not used | Used |