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Cross-Platform &
Portable |
6 Programming
Approaches |
Powerful APIs, 7
languages |
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V-REP is
cross-platform, and allows the creation of portable, scalable and easy
maintainable content: a single portable file can contain a fully
functional model (or scene), including control code.
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Simulator and
simulations are fully customizable, with 6 programming approaches that
are mutually compatible and that can even work hand-in-hand. 7 fully
supported programming languages.
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Regular API: 500+
functions (C/C++ & Lua)
Remote API: 100 functions (C/C++, Python, Java, Matlab, Octave, Lua &
Urbi).
ROS interface: 100 services, 30 publisher types, & 25 subscriber types. |
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Remote API |
Dynamics/Physics |
Inverse/Forward
Kinematics |
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> 100 embeddable
V-REP functions: control a simulation or the simulator itself remotely
(e.g. from a real robot or another PC). Easy to use, supports sync. or
async. operation, is optimized for heavy data transfer and minimizes
comm. lag |
4 physics engines
(Bullet Physics, ODE, Vortex Dynamics and Newton Dynamics) for fast and
customizable dynamics calculations, to simulate real-world physics and
object interactions (collision response, grasping, etc.)
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Inverse/forward
kinematics calculations for any type of mechanism (branched, closed,
redundant, containing nested loops, etc.). An embeddable version of the
IK/FK algorithms is available (i.e. can run on your robot).
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Collision Detection |
Minimum Distance
Calculation |
Dynamic Particles |
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Fast interference
checking between any meshes or collection of meshes, with optional
collision contour calculation
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Fast and exact
minimum distance calculation between any meshes (convex, concave, open,
closed) or collection of meshes
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V-REP supports
customizable particles that can be used to simulate air or water jets,
jet engines, propellers, etc.
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Proximity Sensor
Simulation |
Vision Sensor
Simulation |
Building Block
Concept |
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Powerful, realistic
and exact proximity sensor simulation: performs an exact minimum
distance calculation within a customizable detection volume. Much more
continuous operation than with discrete ray sensors
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Simulation of vision
sensors with many built-in image processing filters, fully customizable
and extendable (e.g. via plugin)
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Anything - from
sensors or actuators, to whole robotic systems - can be built within
V-REP by combining basic objects and linking various functionality via
embedded scripts. Every scene object can have its own embedded script! |
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Path/Motion Planning |
Data Recording and
Visualization |
Custom User
Interfaces |
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Holonomic path
planning in 2-6 dimensions, non holonomic path planning for car-like
vehicles, and motion planning for kinematic chains. Custom path/motion
planning algorithms are also supported |
A large variety of
recordable data streams (including user-defined) can display
time-graphs, or can be combined with each other to form x/y-graphs, or
3D curves
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Unlimited number of
fully customizable user interface elements, with integrated edit mode.
Custom Windows-style dialogs are of course also supported through
plugins
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Integrated Edit Modes |
Easy Data
Import/Export |
RRS Interface &
Motion Library |
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Next to the regular
scene edition/composition, special edit modes are also supported,
including mesh edit modes (including a semi-automatic primitive shape
extraction method) or the path/trajectory edit mode |
Following file
formats are supported (also when called through the API): URDF, COLLADA,
DXF, 3DS, OBJ, STL (ASCII & binary)
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The RRS-1 interface
specifications are fully implemented, and the Reflexxes Motion Library
type IV is fully supported.
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Full-Featured Scene
Hierarchy |
Convenient Model
Browser |
Full Interaction |
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The scene composition
is intuitively visualized in a scene hierarchy view, indicating object
names, types, associated control scripts, loop closures, selection and
visibility states, warnings, etc. |
The integrated model
browser supports drag-and-drop operations (also during simulation!) for
convenient scene composition. The available model library, updated at
each release, can be easily extended by the user |
Full interaction also
during simulations: models, together with their associated behavior
(i.e. embedded scripts) can be shifted, rotated, copy/pasted, scaled,
erased, etc. without having to adjust any code |
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