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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 Limitations:
· You can use the for evaluation purposes for a maximum period of 1-2 months What's New in This Release: [ read full changelog ]
· Extended the functionality of the functions related to signals. Signals can now be local (to a given simulator instance) or global · Textures can now also be applied using texture coordinate information loaded during an import operation · Added a new integer parameter: sim_intparam_visible_layers · Added a new boolean parameter: sim_boolparam_shape_textures_are_visible · New scene: "controlTypeExamples.ttt" · Bug correction (crash with spherical joints, and joints involved in loop closure with the ODE engine)
