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