CoppeliaSim
| Developer(s) | Coppelia Robotics AG |
|---|---|
| Stable release | 4.1.0
/ July 21st, 2020 |
| Engine | |
| Operating system | Windows, Linux, macOS |
| Type | Robotics simulator |
| License | Dual licensed (commercial or GPL) |
| Website | Coppelia Robotics web page |
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CoppeliaSim, formerly known as V-REP, is a robot simulator used in industry, education and research.[1][2]
It makes use of the ODE, Bullet, Vortex and Newton physics simulation libraries to perform rigid body simulation. Builtin modules provide functionalities for forward kinematics, inverse kinematics, collision detection, distance calculation, motion planning. Additional functionality can be provided by C/C++ plugins. Simulation behavior can be customized via Lua scripts and plugins.
CoppeliaSim includes a large and well documented library of robot and sensor models, tutorials and code examples[3].
Main fields of application
- robotics research[4]
- robotic manipulation[5]
- fast prototyping of robots[6]
- motion planning[7]
- reinforcement learning[8]
- multi-robot simulation
- virtual reality[9]
Control architecture
CoppeliaSim supports the following techniques of writing controllers:
- control code is executed on the same machine and in the same thread as the simulation loop;
- control code is executed on the same machine, but in another process/thread;
- control code is executed on another machine.
The techniques for writing simulation controllers include:
- embedded scripts: the simulation loop calls a main script (Lua), which in turn calls the child scripts attached to specific objects of the simulation, which can execute in a threaded and non-threaded fashion, allowing for various programming styles and synchronization techniques;
- plug-ins: written in C/C++, can provide additional functions to embedded scripts (e.g.: library bindings, algorithms) and can extend the functionality of a particular simulation model or object;
- remote API: allows interacting with the simulator API from an external process or machine via socket communication, from a variety of languages (C, C++, Python, Java, MATLAB, Urbi);
- ROS: scene and models can provide integration with ROS topics, services and actions, allowing to use CoppeliaSim as a drop-in replacement for robot and sensors that already use ROS.
See also
- ROS
References
- ↑ Rohmer, Eric; Singh, Surya P. N.; Freese, Marc (3 November 2013). CoppeliaSim (formerly V-REP): a Versatile and Scalable Robot Simulation Framework (PDF). 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems. Tokyo, Japan. pp. 1321–1326. doi:10.1109/IROS.2013.6696520.CS1 maint: Date and year (link)
- ↑ "CoppeliaSim / V-REP paper references". Retrieved 9 September 2020.
- ↑ Pitonakova, Lenka; Giuliani, Manuel; Pipe, Anthony; Winfield, Alan (2018). Giuliani, Manuel; Assaf, Tareq; Giannaccini, Maria Elena, eds. Feature and Performance Comparison of the V-REP, Gazebo and ARGoS Robot Simulators. Towards Autonomous Robotic Systems. Springer International Publishing. pp. 357–368. ISBN 978-3-319-96728-8.
- ↑ Jiménez, A.; Anzola, J.; Rubén González Crespo, Vicente García-Díaz; L., Zhao (2020). "PyDSLRep: A domain-specific language for robotic simulation in V-Rep". PLOS ONE. 15 (7): e0235271. Bibcode:2020PLoSO..1535271J. doi:10.1371/journal.pone.0235271. PMC 7329094 Check
|pmc=value (help). PMID 32609761 Check|pmid=value (help). - ↑ Collins, Jack; McVicar, Jessie; Wedlock, David; Brown, Ross; Howard, David; Leitner, Jürgen (2020). "Benchmarking Simulated Robotic Manipulation through a Real World Dataset". IEEE Robotics and Automation Letters. 5: 250–257. arXiv:1911.01557. doi:10.1109/LRA.2019.2953663. Unknown parameter
|s2cid=ignored (help) - ↑ Kumar, Priyadarshi; Verma, Navneet; Parhi, Dayal; Priyadarshi, Deepayan (2019). "Design and control of a 7 DOF redundant manipulator arm". Australian Journal of Mechanical Engineering: 1–12. doi:10.1080/14484846.2019.1656354.
- ↑ Lashkari, Negin; Biglarbegian, Mohammad; Yang, Simon (2018). "Development of Novel Motion Planning and Controls for a Series of Physically Connected Robots in Dynamic Environments". Journal of Intelligent & Robotic Systems. 95 (2): 1–20. doi:10.1007/s10846-018-0900-y. Unknown parameter
|s2cid=ignored (help) - ↑ James, Stephen; Freese, Marc; Davison, Andrew J (26 June 2019). "PyRep: Bringing V-REP to Deep Robot Learning". arXiv:1906.11176 [cs.RO].
- ↑ Bogaerts, Boris; Sels, Seppe; Vanlanduit, Steve; Rudi, Penne (2020). "Connecting the CoppeliaSim robotics simulator to virtual reality". SoftwareX. 11: 100426. Bibcode:2020SoftX..1100426B. doi:10.1016/j.softx.2020.100426. ISSN 2352-7110.
External links
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Category:Robotics simulation software
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