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CoppeliaSim , formerly known as V-REP, is a robot simulator used in industry, education and research.[1] [2]
It is built around a distributed control architecture having Python and Lua scripts, or C C++ plug-ins acting as individual, synchronous controllers. Additional asynchronous controllers can execute in another process, thread or machine via various middleware solutions (ROS , remote API,[3] ZeroMQ ) with programming languages such as C/C++, Python , Java and Matlab .
CoppeliaSim uses a kinematics engine for forward and inverse kinematics calculations, and several physics simulation libraries (MuJoCo, Bullet , ODE , Vortex , Newton Game Dynamics ) to perform rigid body simulation. Models and scenes are built by assembling various objects (meshes , joints , various sensors , Point clouds , OC trees , etc.) into a hierarchical structure. Additional functionality, provided by plug-ins , include: motion planning (via OMPL ), synthetic vision and imaging processing (e.g. via OpenCV ), collision detection , minimum distance calculation, custom graphical user interfaces and Data visualization (e.g. via plots ).
The main fields of application of CoppeliaSim are robotics research[4] [5] [6] [7]
References
[ edit ]
^ "Remote API reference" . Retrieved 26 April 2021 .
^ 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 PMID 32609761 .
^ Caio, Camargo; Gonçalves, José; Conde, Miguel Á.; Rodríguez-Sedano, Francisco J.; Costa, Paulo; García-Peñalvo, Francisco J. (2021). "Systematic Literature Review of Realistic Simulators Applied in Educational Robotics Context" . Sensors . 21 12 ): 4031. doi :10.3390/s21124031 PMC 8230607 PMID 34208046 .
^ "CoppeliaSim Introduction - Northwestern Mechatronics Wiki" . hades.mech.northwestern.edu . Retrieved 2021-04-22 .
^ 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
External links
[ edit ] R e t r i e v e d f r o m " https://en.wikipedia.org/w/index.php?title=CoppeliaSim&oldid=1230062910 " C a t e g o r y : ● R o b o t i c s s i m u l a t i o n s o f t w a r e
● T h i s p a g e w a s l a s t e d i t e d o n 2 0 J u n e 2 0 2 4 , a t 1 1 : 4 9 ( U T C ) . ● T e x t i s a v a i l a b l e u n d e r t h e C r e a t i v e C o m m o n s A t t r i b u t i o n - S h a r e A l i k e L i c e n s e 4 . 0 ;
a d d i t i o n a l t e r m s m a y a p p l y . B y u s i n g t h i s s i t e , y o u a g r e e t o t h e T e r m s o f U s e a n d P r i v a c y P o l i c y . W i k i p e d i a ® i s a r e g i s t e r e d t r a d e m a r k o f t h e W i k i m e d i a F o u n d a t i o n , I n c . , a n o n - p r o f i t o r g a n i z a t i o n . ● P r i v a c y p o l i c y ● A b o u t W i k i p e d i a ● D i s c l a i m e r s ● C o n t a c t W i k i p e d i a ● C o d e o f C o n d u c t ● D e v e l o p e r s ● S t a t i s t i c s ● C o o k i e s t a t e m e n t ● M o b i l e v i e w
