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vrepper

Tethered V-REP (using V-REP as a remote controlled multi-body simulator) in Python.

The Python binding (vrep.py and vrepConst.py) and the driver libraries (remoteApi.dll, remoteApi.dylib, and remoteApi.so) are copied as-is from V-REP PRO EDU V3.4

Thanks to Florian Golemo (https://github.com/fgolemo/vrepper) for help on the Linux side :)

THIS IS A FORK FROM https://github.com/ctmakro/vrepper, WITH SOME ADDITIONAL FEATURES:

(I created a pull request to the original repo, but the author hasn't accepted yet)

  • Linux support
  • versioned V-Rep libraries, so you don't get any weird version conflicts
  • Python 2.7 support
  • access to joint angles (reading/writing)
  • access to synchronous/non-synchronous simuation
  • PEP-8 conformity

Usage

Add the path to your V-REP installation to your PATH:

  • (Windows) might be something like C:/Program Files/V-REP3/V-REP_PRO_EDU/

    $ set PATH=%PATH%;C:/Program Files/V-REP3/V-REP_PRO_EDU/

  • (Mac OS X) might be something like /Users/USERNAME/V-REP_PRO_EDU/vrep.app/Contents/MacOS/

    $ export PATH=$PATH:"/Users/USERNAME/V-REP_PRO_EDU/vrep.app/Contents/MacOS/"

  • (Linux) might be something like /home/USERNAME/tools/V-REP_PRO_EDU_V3_4_0_Linux

    $ export PATH="/home/USERNAME/tools/V-REP_PRO_EDU_V3_4_0_Linux":$PATH

Then run the following:

$ git clone https://github.com/ctmakro/vrepper
$ cd vrepper
$ pip install -e . #(install the vrepper package in edit mode)
$ ipython test_body_joint.py #(run the example)

The last command will start V-REP in headless mode (no GUI) and run a simple simulation step-by-step. Then it will shut itself down and exit.

Why should you use V-REP

  • build your model with its GUI tools
  • simulate your model with whatever programming language you like

Why should you use vrepper

If you are looking for:

  • remote controlled simulation
  • low overhead communication
  • ability to start/stop simulation repeatedly to perform all kinds of experiment

Then vrepper has already paved the way for you. You should at least take a look at vrepper's source code.

Known Issues

  • On Linux after the end of the script the V-Rep process isn't killed properly. Workaround: run "killall vrep" manually after the script finishes.