V-REP

V-REP version for RhobanProject (education)

Directories:

• Addon: Altered files of V-REP for custom remote API commands
• Models: Robots models for V-REP
• Scenes: Simulations set up
• Client: Simple interface for communicating with V-REP running simulation
• Example: Basic example moving robot and printing all sensors values
• Vrep: Containts V-REP 3.1.0

Installation:

• Copy V-REP 3.1.0 directory to Vrep/

Compiling:

• mkdir Client/build/ ; cd Client/build/
• cmake .. #Build V-REP remote API custom commands
• make #Build Client into library
• mkdir Example/build ; cd Example/build/
• cmake ..
• make #Build example against Client library

Run:

• cd Example/build/
• ./vrep
• ./Client 127.0.0.1 4242

Models:

• Rendered model is different than physical used dynamic model
• Prefert simple shapes (or convex) for approximating dynamic model
• Joints must be revolute, position not cyclic, mode force/torque, position control enabled, force/torque regulated