V-REP main features

6 Programming Approaches Powerful APIs, 7 languages Remote API
Simulator and simulations are fully customizable, with 6 programming approaches that are mutually compatible and that can even work hand-in-hand. 7 fully supported programming languages.
Regular API: 500+ functions (C & Lua)
Remote API: 100+ functions (C, Python, Java, Matlab, Octave, Lua & Urbi).
ROS interface: supports all standard messages, extendable. Naturally duplicates the ROS C++ API.
> 100 embeddable V-REP functions: control a simulation or the simulator itself remotely (e.g. from a real robot or another PC). Easy to use, supports sync. or async. operation, is optimized for heavy data transfer and minimizes comm. lag
Dynamics/Physics Inverse/Forward Kinematics Dynamic Particles
4 physics engines (Bullet Physics, ODE, Vortex Dynamics and Newton Dynamics) for fast and customizable dynamics calculations, to simulate real-world physics and object interactions (collision response, grasping, etc.)
Inverse/forward kinematics calculations for any type of mechanism (branched, closed, redundant, containing nested loops, etc.). An embeddable version of the IK/FK algorithms is available (i.e. can run on your robot).
V-REP supports customizable particles that can be used to simulate air or water jets, jet engines, propellers, etc.
Collision Detection Minimum Distance Calculation Cross-Platform & Portable
Fast interference checking between any mesh, octree, point cloud, or collection of those.
Fast and exact minimum distance calculation between any mesh (convex, concave, open, closed), octree, point cloud, or collection of those.
V-REP is cross-platform, and allows the creation of portable, scalable and easy maintainable content: a single portable file can contain a fully functional model (or scene), including control code.
Proximity Sensor Simulation Vision Sensor Simulation Building Block Concept
Powerful and realistic proximity sensor simulation (exact min. distance calculation within a customizable detection volume). Much more continuous operation than with discrete ray sensors. Operates on meshes, octrees and point clouds
Simulation of vision sensors with many built-in image processing filters, fully customizable and extendable (e.g. via plugin)
Anything - from sensors or actuators, to whole robotic systems - can be built within V-REP by combining basic objects and linking various functionality via embedded scripts. Every scene object can have its own embedded script!
Path/Motion Planning Data Recording and Visualization Custom User Interfaces
Path planning / motion planning is supported in a very flexible way via the OMPL library wrapped in a plugin for V-REP
A large variety of recordable data streams (including user-defined) can display time-graphs, or can be combined with each other to form x/y-graphs, or 3D curves
Unlimited number of fully customizable user interface elements. Window-style or OpenGl-style are supported
Integrated Edit Modes Easy Data Import/Export RRS Interface & Motion Library
Special mesh edit modes are supported (including a semi-automatic primitive shape extraction method, convex decomposition, mesh decimation, etc.)
Following file formats are supported (also when called through the API): URDF, COLLADA, DXF, 3DS, OBJ, STL (ASCII & binary)
The RRS-1 interface specifications are fully implemented, and the Reflexxes Motion Library type IV is fully supported.
Full-Featured Scene Hierarchy Convenient Model Browser Full Interaction
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.
The integrated model browser supports drag-and-drop operations (also during simulation!) for convenient scene composition. The available model library, updated at each release, can be easily extended by the user
Full interaction also during simulations: models, together with their associated behavior (i.e. embedded scripts) can be shifted, rotated, copy/pasted, scaled, erased, etc. without having to adjust any code
Free Educational License Free Player Version Many More features!
Educational entities (hobbyists, students, teachers, professors, schools and Universities) can use V-REP PRO EDU for free. The source code of all elements is available. Refer to the licensing page for details
A free V-REP player version is available, and allows running and interacting with V-REP simulations
e.g. multilevel undo/redo, integrated ray-tracer, movie recorder, simulation of wireless communications, simulation of paint or welding seams, mirrors, octrees, point clouds, exhaustive documentation, etc.

More features include:

  • Various types of joints (revolute-, prismatic-, screw- or spherical-type).
  • Path or trajectory functionality for elaborate kinematic movements.
  • Mirrors and auxiliary clipping planes are supported.
  • Distributed control and script-driven: each scene object can have an embedded script attached, all operating at the same time, in a threaded or non-threaded fashion.
  • Minimal or no programming required for simple simulations.
  • Fully customizable main client application loop.
  • Unlimited number of simultaneously opened scenes.
  • Full copy/paste functionality, not just for objects, but also for their associated behavior (programs), also during simulation.
  • Model self-duplication or self-destruction capability (from within the model itself), together with associated calculation objects and embedded scripts.
  • Built-in Video recorder.
  • Convex decomposition and convex hull calculation functions.
  • Powerful and flexible wireless communication simulation and visualization.
  • Very elaborate and easily extendable means of communication within V-REP or with the outside world.
  • Customizable drawing objects (points, lines, triangles, etc.). Allows simulation of paint, welding seams, etc.
  • Customizable dynamic particles. Allows simulation of air or water jets, jet engines, propellers, etc.
  • Static and dynamic texturing.
  • Multi-level undo/redo.
  • Objects and attached functionalities are fully scalable (resizable), also during simulation.
  • Simulation speed control also during simulation.
  • Compact scene and model files (one single compressed binary file containing all what is needed (objects and programs)).
  • Possibility to lock scenes from further edition/modification, script content viewing or resource export.
  • Very high level of in-house technology development and/or implementation
  • Exhaustive and comprehensive documentation.