V-REP - Revision history

Robot at 17:32, 15 June 2012

2012-06-15T17:32:05Z

Robot at 16:39, 15 June 2012

2012-06-15T16:39:15Z

Robot: V-REP project

2012-06-15T15:28:12Z

V-REP project

Robot: New page: == V-REP (Virtual Robot Experimentation Platform) == '''Description:''' V-REP is a distributed control 3D robot simulator, that allows to create whole robotic systems, simulate and intera...

2012-06-15T15:18:01Z

New page: == V-REP (Virtual Robot Experimentation Platform) == '''Description:''' V-REP is a distributed control 3D robot simulator, that allows to create whole robotic systems, simulate and intera...

New page

== V-REP (Virtual Robot Experimentation Platform) ==

'''Description:''' V-REP is a distributed control 3D robot simulator, that allows to create whole robotic systems, simulate and interact with dedicated hardware. It possesses several versatile calculation modules (dynamics based on ODE and Bullet, inverse kinematics, proximity sensors, vision sensors, path planning, collision detection, minimum distance calculation, graphing, etc.) and a very elaborate API (more than 650 API functions in total). The platform supports CAD data import, robot and world edition and user interface edition.<br />
'''Platform:''' Windows, Mac OS X & Linux.<br />
'''License:''' Partially open source. Several prices available. Free fully functional version available for students.

== Example of source code ==

<source lang="cpp">
if (simGetScriptExecutionCount()==0) then
-- This is executed exactly once, the first time this script is executed
bubbleRobBase=simGetObjectAssociatedWithScript(sim_handle_self) -- this is bubbleRob's handle
-- following is the handle of bubbleRob's associated UI (user interface):
ctrl=simGetUIHandle("bubbleCtrl")
-- Set the title of the user interface:
simSetUIButtonLabel(ctrl,0,simGetObjectName(bubbleRobBase).." speed")
leftMotor=simGetObjectHandle("leftMotor") -- Handle of the left motor
rightMotor=simGetObjectHandle("rightMotor") -- Handle of the right motor
noseSensor=simGetObjectHandle("sensingNose") -- Handle of the proximity sensor
minMaxSpeed={50*math.pi/180,300*math.pi/180} -- Min and max speeds for each motor
backUntilTime=-1 -- Tells whether bubbleRob is in forward or backward mode
end

-- if any child script is attached to the bubbleRob tree, this command will execute it/them:
simHandleChildScript(sim_handle_all_except_explicit)
-- Retrieve the desired speed from the user interface:
speed=minMaxSpeed[1]+(minMaxSpeed[2]-minMaxSpeed[1])*simGetUISlider(ctrl,3)/1000

result=simReadProximitySensor(noseSensor) -- Read the proximity sensor
-- If we detected something, we set the backward mode:
if (result>0) then backUntilTime=simGetSimulationTime()+4 end

if (backUntilTime<simGetSimulationTime()) then
-- When in forward mode, we simply move forward at the desired speed
simSetJointTargetVelocity(leftMotor,speed)
simSetJointTargetVelocity(rightMotor,speed)
else
-- When in backward mode, we simply backup in a curve at reduced speed
simSetJointTargetVelocity(leftMotor,-speed/2)
simSetJointTargetVelocity(rightMotor,-speed/8)
end
</source>

@@ Line 58: / Line 58: @@
 Example of program in V-REP:
 [[Image:Ai2.png|left|600px|Example of program in V-REP:]]
-== Links ==
+http://www.coppeliarobotics.com/<br />

@@ Line 1: / Line 1: @@
 == V-REP (Virtual Robot Experimentation Platform) ==
@@ Line 44: / Line 52: @@
 == Screenshots ==
-[[Image:Example.jpg]]
+Workplace in V-REP:

@@ Line 4: / Line 4: @@
 '''Platform:''' Windows, Mac OS X & Linux.<br />
 '''License:''' Partially open source. Several prices available. Free fully functional version available for students.
 == Example of source code ==
@@ Line 42: / Line 41: @@
 end
 </source>