 | V-REPVirtual Robot Experimentation Platform |
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V-REP Ranking & Summary
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V-REP Description
The Virtual Robot Experimentation Platform, also known as V-REP, is a tool that can be used to simulate, test, evaluate or interface with robotic systems. V-REP can be used in mobile robotics, industrial robotics 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. Main features: 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
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