Simulation on Mahdi Sarfarazi https://mahdisf.ir/tags/simulation/ Recent content in Simulation on Mahdi Sarfarazi Mahdi Sarfarazi https://mahdisf.ir/images/social-card.png https://mahdisf.ir/images/social-card.png Hugo en-US Mon, 01 Jun 2026 00:00:00 +0000 LLM-powered robotic task planning https://mahdisf.ir/projects/llm-powered-robotic-task-planning/ Mon, 01 Jun 2026 00:00:00 +0000 https://mahdisf.ir/projects/llm-powered-robotic-task-planning/ Personal experiment: translating natural-language instructions into ROS2 actions for a simulated robotic arm in Gazebo, using the Gemini API. This is a personal experiment in connecting a language model to a robot safely. The model proposes a plan, and ROS2 executes it on a simulated arm.

Diagram: a natural-language instruction goes to an LLM planner, which produces ROS2 actions for a simulated arm in Gazebo.

What it does

It takes an instruction in plain language and uses the Gemini API to turn it into a sequence of ROS2 actions, which then run on a simulated robotic arm in Gazebo.

Status and limits

This is an early-stage experiment. It has no formal evaluation yet, and the code is not public. I’ll update this page with a repository, the supported task set and results when there is something worth measuring.

The same question drives ViGenX: how to let a language model plan while keeping execution verifiable.

]]> ROS2 Simulation and System Log https://mahdisf.ir/logs/robotics-simulation-log/ Sat, 18 Jan 2025 00:00:00 +0000 https://mahdisf.ir/logs/robotics-simulation-log/ A short log entry covering ROS2 simulation updates and system observations. Today I tested the ROS2 planning stack in Gazebo with a simulated manipulator. The robot completed the pick-and-place behavior, but the controller still needs a tighter feedback loop for fine-grained placement.

  • Added a new lifecycle node for state management.
  • Logged delay spikes from the joint trajectory action.
  • Verified collision boundaries in the simulator.
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