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  • V-REP is the Swiss army knife among robot simulators: you won't find a simulator with more functions, features, or more elaborate APIs.

    The robot simulator V-REP, with integrated development environment, is based on a distributed control architecture: each object/model can be individually controlled via an embedded script, a plugin, a ROS node, a remote API client, or a custom solution. This makes V-REP very versatile and ideal for multi-robot applications. Controllers can be written in C/C++, Python, Java, Lua, Matlab or Urbi.

    V-REP is used for fast algorithm development, factory automation simulations, fast prototyping and verification, robotics related education, remote monitoring, safety double-checking, etc.
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  • Project V-REP

  • V-REP

  • V-REP Features

    • 6编程方法

    • Simulator and simulations are fully customizable, with 6 programming approaches that are mutually compatible and that can even work hand-in-hand.

    • Powerfull APIs, 6 Languages

      • Regular API: 400 functions (C/C++ & Lua)
      • 远程API: 100功能(C/C++, Python, Java, Matlab & Urbi).
      • ROS interface: 100 services, 30 publisher types, & 25 subscriber types.

    • Remote API

    • 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, fast, supports sync. or async. operation, is optimized for heavy data transfer and minimizes comm. lag

    • Dynamics/Physics

    • 2 physics engines (Bullet and ODE) for fast and customizable dynamics calculations, to simulate real-world physics and object interactions (collision response, grasping, etc.)

    • Inverse/Forward Kinematics

    • 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).

    • Dynamic Particles

    • V-REP supports customizable particles that can be used to simulate air or water jets, jet engines, propellers, etc.

    • Collision Detection

    • Fast interference checking between any meshes or collection of meshes, with optional collision contour calculation

    • Minimum Distance Calculation

    • Fast and exact minimum distance calculation between any meshes (convex, concave, open, closed) or collection of meshes

    • Cutting Simulation

    • Simulation of surface cutting operations using various customizable cutting tool shapes

    • 接近传感器仿真

    • 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

    • Vision Sensor Simulation

    • Simulation of vision sensors with many built-in image processing filters, fully customizable and extendable (e.g. via plugin)

    • Building Block Concept

    • 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!

    • Path Planning

    • Holonomic path planning in 2-6 dimensions, and non holonomic path planning for car-like vehicles. Custom path planning algorithms are also supported

    • Data Recording and Visualization

    • 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

    • Custom User Interfaces

    • Unlimited number of fully customizable user interface elements, with integrated edit mode. Custom Windows-style dialogs are of course also supported through plugins

    • Integrated Edit Modes

    • 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

    • Easy Data Import/Export

    • Following file formats are supported (also when called through the API): URDF, COLLADA, DXF, 3DS, OBJ, STL (ASCII & binary)

    • Powerfull Motion Library

    • The Reflexxes Motion Library type IV is fully supported and provides instantaneous trajectory generation capabilities for motion control systems.

    • Full-Featured Scene Hierarchy

    • 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.

    • 反对venient Model Browser

    • 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

    • Full interaction also during simulations: models, together with their associated behavior (i.e. scripts) can be shifted, rotated, copy/pasted, scaled, erased, etc. without having to adjust any code

    • Free Educational License

    • Educational entities (hobbyists, students, teachers, professors, schools and Universities) can use V-REP PRO EDU for free. The source code of all elements is available. Refer to the licensing page for details

    • Free Player Version

    • A free V-REP player version is available, and allows running and interacting with V-REP simulations

    • 更多的功能

    • e.g. multilevel undo/redo, movie recorder, simulation of wireless communications, simulation of paint or welding seams, static and dynamic textures, exhaustive documentation, etc.