V-REP 2.4.15

V-REP 2.4.15 is designed as a reliable and general-type robot simulator which enables you to edit and simulate whole robotic systems, or sub-systems (e.g. sensors, mechanisms, etc.). It offers a multitude of functionalities (see hereafter) that can be easily integrated and combined through an exhaustive API and script functionality. V-REP can be used for remote monitoring, for hardware control, for fast prototyping and verification, for fast algorithm development/parameter adjustment, for safety double-checking, for robotics-related education, factory automation simulations, etc. 

Major Features:

1. Distributed control
   • Script driven. Fully customizable simulations through an unlimited number of simultaneously operating scripts (threaded or non-threaded). "Regular" API function calls are of course also supported
2. Powerful API
   • More than 300 clean and fine-grained API functions, available from the C/C++ and Lua side (other languages capable of API calls also usable)
3. Inverse/Forward Kinematics
   • Forward/inverse kinematics calculations for any type of mechanism (branched, closed, redundant, containing nested loops, etc.)
4. Dynamics/Physics
   • Fast and customizable dynamics calculations to simulate real-world physics and object interactions (collision response, grasping, etc.). The user can select one of two physics engines.
5. Proximity Sensor Simulation
   • Powerful, realistic and exact proximity sensor simulation, fully customizable. Performs an exact minimum distance calculation within a given detection volume
6. Visual-Type Sensor Simulation
   • Simulation of visual-type sensors with many built-in image processing filters, fully customizable
7. Collision Detection
   • Fast interference checking between any geometries or collection of geometries, with optional collision contour calculation
8. Distance Calculation
   • Fast minimum distance calculation between any geometries (convex, concave, open, closed) or collection of geometries
9. Path Planning
   • Holonomic path planning in 2-6 dimensions, and non holonomic path planning for car-like vehicles
10. Cutting Simulation
    • Simulation of surface cutting operations using various customizable cutting tool shapes
11. Custom User Interfaces
    • Unlimited number of fully customizable user interface elements, with integrated edit mode. Custom Windows-style dialogs are also supported through plugins
12. Data Recording and Visualization
    • A large variety of recordable data streams can display time-graphs, or can be combined with each other to form x/y-graphs, or 3D curves
13. Force/Torque Sensor Simulation
    • Force and torque sensors can record applied forces or torques, and react to threshold overshoot by breaking apart
14. Dynamic particles
    • V-REP supports customizable particles that can be used to simulate air or water jets, jet engines, propellers, etc.
15. Integrated Edit Modes
    • Next to the regular scene edition/composition, special edit modes are also supported: script-, triangle-, vertex-, edge-, path/trajectory- and custom user interface edit modes
16. Fully Customizable View Configurations
    • Scenes have 8 easily toggable pages, where each can be fully customized with an unlimited number of views. Views can be camera-views, graph-views, or rendering sensor-views
17. Easy CAD Data Import/Export
    • Following file formats are supported: DXF, 3DS, OBJ, STL (ASCII & binary)
18. Fully Customizable
    • The simulator itself can be customized at various levels: by writing a customized client application, or by writing extension modules (plugins)
19. Full Interaction
    • Full interaction also during simulations: models, together with their associated behavior (i.e. scripts) can be shifted, rotated, copy/pasted, scaled, erased, etc. without having to adjust any code
20. Compact and Lightweight
    • The whole application fits into 5 Mb, no dependency installations are required. Simulation scenes and models are saved as a single compressed file, loading operation is blazingly fast
21. Full-Featured Scene Hierarchy View
    • The scene composition is intuitively visualized in a scene hierarchy view, indicating object names, types, associated control scripts, loop closures, selection and visibility states, warnings, etc.
22. Convenient Model Browser
    • The integrated model browser supports drag-and-drop operations for convenient scene composition. The available model library, updated at each release, can be easily extended by the user
23. Free Player Version
    • A free V-REP player version is available, and allows running and interacting with V-REP simulations
24. Many More features!
    • E.g. multilevel undo/redo, four in-parallel running simulator instances, AVI recorder, simulation of wireless communications, simulation of paint or welding seams, static and dynamic textures,exhaustive documentation, etc.

• CPU: >300 (Passmark CPU Rating)
• RAM: >=512 MB
• Storage capacity: >50 MB
• Video card: >200 (Passmark G3D Rating) (a good video card (i.e. hardware accelerated) is probably the most critical element of V-REP!)
• OS: Windows XP/Vista/Seven (other Windows versions not tested)
• Monitor resolution: >=1024x768