Virtual Robot Experimentation Platform
The Virtual Robot Experimentation Platform (in short V-REP) is a robot simulator that can be used to simulate, test, evaluate or interface whole robotic systems (mobile robotics, industrial robotics, etc.) or robotic sub-systems (mechanisms, sensors, etc.). It is a general-type robot simulator that supports virtually any type of robotic system through its fine-grained functionalities and extended Application Programming Interface (API).V-REP can be used as a stand-alone application or can easily be embedded into a client application: its small footprint and elaborate API makes V-REP an ideal candidate to embed into higher-level applications.An integrated Lua script interpreter makes V-REP an extremely versatile application, leaving the freedom to the user to combine the low/high-level functionalities to obtain new high-level functionalities.Give V-REP a try to see how useuful it can actually be for you! Here are some key features of "V-REP":
· Full collision detection module, allowing fast interference checking between any geometries or collection of geometries, with optional collision contour calculation.
· Minimum distance calculation module, allowing fast minimum distance calculation between any geometries (convex, concave, open, closed) or collection of geometries.
· Full forward/inverse kinematics calculation module, allowing handling any type of mechanism (branched, closed, redundant, containing nested loops, etc.)
· Geometric constraint solver module, allowing to intuitively solve/actuate/interact with mechanisms
· Path planning module, allowing holonomic and non holonomic path planning tasks
· Powerful, customizable and fast dynamics calculation module, allowing to simulate near to real-world object interactions.
· Powerful, realistic and exact proximity sensor simulation, fully customizable
· Simulation of camera-like sensors with image processing capabilities, fully customizable
· Simulation of force and torque sensors, with a “breakable” option.
· Simulation of cutting operations using mill objects
· Various types of joints (revolute-, prismatic-, screw- or spherical-type)
· Path or trajectory functionality for elaborate kinematic movements
· Script-driven, fully customizable behavior, also at low level.
· Unlimited number of scripts operating at the same time, non-threaded or threaded (threaded scripts operate flawlessly also on single-core CPUs).
· Minimal or no programming required for simple simulations.
· Support for extension modules (i.e. plugins).
· Fully customizable client application loop.
· Fully customizable user interface elements with integrated edit-mode
· More than 250 clean and fine-grained API functions, available from the C/C++ and Lua side (wrappers can make them available to other languages too)
· Fully integrated edit mode for robot/mechanism/scene edition (triangle edit mode, vertex edit mode, edge edit mode, custom user-interface edit mode, path/trajectory edit mode, etc.)
· 4 in-parallel running simulator instances sharing a same copy buffer.
· Full interactivity during simulation
· Full copy/paste functionality, not just for objects, but also for their associated behavior (programs), also during simulation
· Model self-duplication or self-destruction capability (from within the model itself), together with associated calculation objects and scripts.
· Exhaustive and comprehensive documentation
· Compact scene and model files (one single compressed binary file containing all what is needed (objects and programs))
· Powerful data recording, visualization and export functionality
· Exhaustive CAD-data import and export file-format support (DXF, 3DS, OBJ, STL)
· Built-in AVI recorder
· Powerful and flexible wireless communication simulation and visualization
· Customized drawing objects (points, lines, triangles, etc.). Allows simulation of paint, welding seams, etc.
· Static and dynamic texturing
· User-friendly model browser
· Multi-level undo/redo
· Objects and attached functionalities are fully scalable (resizable), also during simulation
· Simulation speed control also during simulation
· Compact and lightweight, with no dependency installations required, ideal candidate for embedding
· Possibility to lock scenes from further edition/modification, script content viewing or resource export
· Very high level of in-house technology development and/or implementation
· You can use the for evaluation purposes for a maximum period of 1-2 months What's New in This Release: [ read full changelog ]
· New API commands to build transformation interpolations: simGetRotationAxis and simRotateAroundAxis
· New API command to launch executables: simLaunchExecutable
· New API command to read the force/torque along/about a joint's z-axis: simJointGetForce
· New model: "signal monitor.ttm"
· When simulation stops, then the initial parenting will try to be restored
· Added a new drawing object property: sim_drawing_itemtransparency
· Added a new integer parameter: sim_intparam_dynamic_engine
· Added a new recordable data stream for graphs: "Joints: force or torque"
· Number of active lights not limited to 8 anymore (provided that the GPU also supports more than 8 lights)
· Folders now also appear and are clickable in the lower part of the model browser window