I am searching a simulator for my robot learning research.
In the learning process, I need to change parameters of both environment (friction coefficients, terrain height in the world) and robot itself (mass, inertia).
How can simulators like Gazebo and Webots realize it?
(another problem: bisides physics engine, I also need visual reality for computer-vision-aided algorithms. Is there any simulator that could provide both functions? )
Webots allows you from a supervisor program to easily change any parameter of a simulation (including friction coefficients) while it is running. Moreover it has a VR interface. I don't know about Gazebo.