The mirror objects in V-REP can have two distinct functions:
Following images illustrate the dual functions of mirrors:
[Mirror functions: a) as regular mirrors, b) as auxiliary clipping planes]
The effect of mirrors can be seen when looking through a camera, or when displaying the image content of a vision sensor (since mirrors are renderable objects). Old graphic cards might not correctly support mirrors.
Use mirrors with caution: they slow down the scene display, and won't reflect other mirrors. You can however have as many mirrors as needed. Clipping planes on the other hands are limited to a maximum of 5, or even less depending on your graphic card capabilities.
Mirrors are added to the scene with [Menu bar --> Add --> Mirror].