
V-REP version history
V-REP versions are indicated as follows:
V-REP Vx.y.z
Where:
x identifies a special release. Once every couple of years.
y identifies a yearly release (every January.)
z identifies a regular release (5-10 times a year, includes bug fixes, new features, etc.)
Only V-REP PRO requires a license key. A license key generated for V-REP PRO version Vx.y.z will work for all following V-REP PRO versions up to (including) Vx.y+1.z-1
Version history:
V-REP V3.0.4 (July 8th 2013)
Added 2 optional callbacks, that allow to access and modify the main window rendered image, or any camera view rendered image: sim_message_eventcallback_openglframe & sim_message_eventcallback_openglcameraview.
Fixed several minor bugs. Thanks to Brian Yeomans, Kiyoshi Irie, Ulrich Schwesinger, David Butterworth and Xinyu Zhang.
Added the possibility for vision sensors to ignore their RGB or depth information. When used, this allows to accelerate vision sensor operation. Refer to the vision sensor dialog.
Added two new vision sensor filters. The first allows to extract coordinates from a vision sensor depth map. This allows to create fast laser scanner models, such as models/components/sensors/Hokuyo URG 04LX UG01_Fast.ttm or models/components/sensors/3D laser scanner Fast.ttm. The second added vision sensor filter allows to track individual pixel changes, such as in the model models/components/sensors/DVS128.ttm, courtesy of IniLabs.
Added VC++ 2010 project files for most projects in the programming folder. Until now, only VC++ 2005 project files (Windows) and makefiles (MacOSX & Linux) were provided.
Added 4 remote API helper functions: simxPackFloats, simxUnpackFloats, simxPackInts and simxUnpackInts.
Added new functions for easier data retrieval of several objects from a remote API client or a ROS node: simxGetObjectGroupData and simRosGetObjectGroupData.
Added new messages that allow to track shape picking (based on rendering or geometric calculations): sim_message_pick_select_down, sim_message_prox_sensor_select_down, sim_message_prox_sensor_select_up, sim_message_eventcallback_pickselectdown, sim_message_eventcallback_proxsensorselectdown and sim_message_eventcallback_proxsensorselectup
Added a new demo scene: fabricationBlocks.ttt
Added several fabrication/transformation block models, that can be combined with each other to simulate complex fabrication processes (see the demo scene fabricationBlocks.ttt). The new models are located in models/examples/block factory.
Added a new model: models/components/sensors/push button.ttm
Added a new gripper model courtesy of ROBOTIQ: models/components/grippers/ROBOTIQ 85.ttm
Added a simulation model of the SICK S300 laser scanner: models/components/sensors/SICK S300 Fast.ttm
Added a simulation model of the KUKA Omnirob robot: models/robots/mobile/KUKA Omnirob.ttm
Added a simulation model of the KUKA LBR4+ robot: models/robots/non-mobile/KUKA LBR4+.ttm
Added a simulation model of the Kilobot, together with its controller model: models/robots/mobile/Kilobot.ttm and models/robots/mobile/Kilobot_Controller.ttm. The models are courtesy of K-Team.
Added new wall models, in 3 different heights: 240cm, 80cm and 20cm. They are located in models/infrastructure/walls
Added a new regular API function: simGetIkGroupMatrix. It allows for example to retrieve the Jacobian.
Removed the annoying watermark appearing when recording a movie (Simulated with V-REP)
V-REP V3.0.3 (April 29th 2013)
Fixed a bug created in release 3.0.2: pure shapes would see their Bullet custom collision margin scalings set to a non-default value automatically. Thanks to Geerten Doornenbal and others for reporting this.
Fixed several minor bugs. Thanks to Qi Wang, Giordano and Karl Robillard.
Added 3 new regular API functions to create and edit paths programmatically: simCreatePath, simInsertPathCtrlPoints and simCutPathCtrlPoints.
Added also following new regular API functions: simGetJointMode, simGetJointTargetPosition and simGetJointTargetVelocity.
Added 3 new object parameter IDs (3020-3022) that allow setting the initial rotational velocity of a dynamically enabled shape.
Added an event callback message (sim_message_eventcallback_opengl) that allows to draw with openGl commands into the V-REP scene, from a plugin.
Added a toolbar button that facilitates object/model re-instanciation: this allows modifying in a same way an unlimited number of same robots. Refer to the object/model can transfer or accept DNA checkbox in the object common properties dialog.
Added a tutorial about a line following robot, courtesy of Eric Rohmer.
Added two new API functions: simEnableWorkThreads and simWaitForWorkThreads. They allow to execute sensing operations concurrently (i.e. in parallel), taking advantage of several processor cores. By default the functionality is turned off. It can be turned on via the user settings dialog, the variable workThreadCount in file system/usrset.txt, or programmatically via simSetIntegerParameter(sim_intparam_work_thread_count,coreCount). Refer also to the default main script, that was slightly modified to accomodate for that.
Added a new model: models/components/sensors/Hokuyo URG 04LX UG01_Multithreaded.ttm. It demonstrates a laser scanner capable of using multithreading for potential speed increases.
Added a new model: models/other/timing info.ttm. It allows to quickly have an overview of the time spent in the various calculations.
Added a new model: models/other/joint recorder.ttm. It allows to record the joint movements of a model, then to play them back.
Added a new model: models/robots/mobile/NAO.ttm. The model is courtesy of Marco Cognetti, the mesh and movement data is courtesy of Aldebaran. The model is a first example model of NAO, an improved version should follow in next release.
The remote API on the client side can now be instanciated as many times as needed, allowing to create several parallel communication lines from a same client (i.e. process). One can for instance now chose to send heavy data via a different communication line than lightweight data (simxStart will have to be called twice in that case).
Added following new remote API functions: simxQuery, simxGetAndClearStringSignal and simxCreateDummy.
Added following new ROS interface services/publishers: simRosGetAndClearStringSignal and simRosCreateDummy.
V-REP V3.0.2 (March 14th 2013)
Corrected a bug related to convex shapes
Improved the URDF importer (scaling is now taken into account, bug linked to forbidden chars in object names was fixed, and rpy mix-up (different rotation multiplication order) was also fixed). Thanks to Barrett Ames and Luca Marchionni for pointing that out.
Added a new regular API function: simGetObjectVelocity (slightly different from the already existing simGetVelocity function).
Added a new remote API function: simxAppendStringSignal. This allows to easily send data that is automatically buffered on V-REP.
Added a new ROS interface service: simrosAppendStringSignal. This allows to easily send data that is automatically buffered on V-REP.
Added some testing / adjustment mechanisms to improve rendering performance on certain graphic cards / platform combinations. Thanks to Cedric Pradalier for intensive testing. Refer to the system/usrset.txt file.
Corrected various bugs. Thanks to Arnaud Leleve, Geerten Doornenbal, Pouya Mohammadi, Nikolaus Wittenstein, Ayberk Ozgur.
Replaced the old convex hull calculation routines with the Qhull routines, courtesy of Brad Barber.
Added a few new shortcut keys.
Added an example Ackermann steering vehicle: models/examples/simple Ackermann steering.ttm
Added two transceiver models: models/components/sensors/transceiver.ttm and models/components/sensors/directionalTransceiver.ttm
Added a new type of embedded script: callback scripts, that allow to write custom low-level joint controllers or contact handlers.
Added several mechanisms allowing to execute sensing operations concurrently (i.e. in parallel), taking advantage of several processor cores. By default the functionality is turned off, since still in development phase. It can be turned on via the variable workThreadCount in file system/usrset.txt, or programmatically via simSetIntegerParameter(sim_intparam_work_thread_count,coreCount). Refer also to the default main script, that was slightly modified to accomodate for that.
V-REP V3.0.1 (January 20th 2013)
Convex shapes are now also directly supported in V-REP. We however still recommend using only pure shapes for dynamic simulations.
Added a convex decomposition function (routines courtesy of Khaled Mamou)
Added one new regular API function: simConvexDecompose.
The URDF importer is now in an advanced beta stage.
V-REP V3.0.0 (January 10th 2013)
V-REP is now open source! All source code of V-REP or any related item can be downloaded, modified and compiled. Make sure to read the licensing conditions.
V-REP comes now is several flavours:
V-REP PRO EDU (educational version. No limitation and Free). Can be used by hobbyists, students, teachers, professors, schools and Universities. Make sure to read the licensing conditions.
V-REP PRO (commercial version)
V-REP PLAYER (free player version)
Collada importer/exporter plugin
URDF importer plugin, courtesy of Ignacio Tartavull
Added 4 new regular API functions: simCreateForceSensor, simCreateProximitySensor, simCreateVisionSensor and simImportShape.
Added a quick textures button to the shape properties dialog: it allows for instance to quickly apply a "dirt" texture to several shapes, in order to make them appear more realistic.
New demo scene: proximitySensorDemo.ttt
V-REP V2.6.8 (December 2nd 2012)
Add-ons are now supported: they can run in the background, or be called as a function, when needed
Added 3 new regular API functions: simFileDialog, simMsgBox and simCreateDummy.
Textured shapes can now also be grouped
The bounding box of pure grouped shapes can now also be reoriented
The shape dynamic dialog allows now specifying non-diagonal inertia matrices relative to a specific reference frame.
Shape grouping will now correctly compute the combined inertia matrix for the group.
Added 2 new regular API functions: simGetShapeMassAndInertia and simSetShapeMassAndInertia.
Added 2 new regular API functions: simGroupShapes and simUngroupShape.
Added more than 80 new functions (additional API functions), only available from the C/C++ interface, that extend functionality and allow faster data access.
Serialization version is now 16. Earlier files can still be loaded, but V-REP versions 2.6.7 and earlier cannot load this new fileformat.
V-REP V2.6.7 (September 20th 2012)
Added a new remote API function: simxPauseCommunication. This allows to set several value on the server side (i.e. V-REP) at the exact same time.
Added a new type of object: mirrors. They can act as regular mirrors, or they can operate as auxiliary clipping planes.
Added a new ROS service, and ROS subscriber type: simRosSetJointState and simros_strmcmd_set_joint_state. They allow to set several joints' states at the same time.
Added following ROS publisher/subscriber types (courtesy of Cedric Pradalier): simros_strmcmd_get_range_finder_data, simros_strmcmd_get_transform, simros_strmcmd_get_twist_status, simros_strmcmd_get_vision_sensor_info, and simros_strmcmd_set_twist_command.
Converted the v_repExtMtb plugin to a Qt project. Source files are located in the /programming directory. Refer to the section on plugins for details how to compile this plugin. The plugin binary is in the main directory.
Converted the v_repExtSimpleFilter plugin to a Qt project. Source files are located in the /programming directory. Refer to the section on plugins for details how to compile this plugin. The plugin binary is in the main directory.
Converted the mtbServer application to a cross-platform project. Source files are located in the /programming directory. The executable binary is in the main directory.
Added source code in /programming/matrixCalc that allows handling transformation calculations inside an external application (code can be embedded into your application). Refer to the matrix calculation documentation.
Added source code in /programming/externalIk that allows handling complex kinematic calculations inside an external application (code can be embedded into your application). Refer to the external kinematics documentation.
Added a project that demonstrates the external kinematics functionality: externalIkDemo. The source code is located in the /programming directory. The executable binary is in the main directory.
Added a new demo scene: "externalIkDemo.ttt". It demonstrates the external kinematics functionality.
An external editor for V-REP's embedded scripts can now be used. Refer to the user settings.
Additional texture mapping methods have been implemented: cylinder-, sphere-, or box-mapping. Refer to the texture dialog for details.
The linux version of V-REP comes now in 32 or 64 bit.
Added 2 new functions to handle object/joint motion from a threaded script: simRMLMoveToPosition and simRMLMoveToJointPositions
V-REP V2.6.6 (August 20th 2012)
The ROS plugin is now fully operational and offers 100 services, 30 publisher types and 25 subscriber types. The plugin is fully open source and can easily be adapted to various projects if needed. Have a look at the ROS tutorial for a quick start.
Integrated the Reflexxes Motion Library type IV via a plugin. Following new functions can now be called from C/C++, Lua, the remote API, and from a ROS node: simRMLPosition and simRMLVelocity. Have a look at the related demo scene: "reflexxesMotionLibraryType4Demo.ttt"
Added 4 new API functions: simGetObjectQuaternion, simSetObjectQuaternion, simBuildMatrixQ and simGetQuaternionFromMatrix (internally V-REP used quaternions since always, but only Euler angles could be accessed)
Added an option to colorize items in the scene hierarchy, for quicker identification
Simplified the way the remote API function simxGetUIEventButton operates
New scene: "reflexxesMotionLibraryType4Demo.ttt"
New model: "kinect - closest point calculation.ttm"
Added new graph data streams: Joint velocity, object velocity, object velocity x, object velocity y, object velocity y, and object rotation velocity.
Added a new tutorial: ROS tutorial.
V-REP V2.6.5 (July 7th 2012)
Renamed following remote API functions/constants to avoid confusion: simxGetInMessageInfo, simxGetOutMessageInfo, simx_headeroffset_message_id.
Added a user manual section about how to extend the remote API
Fixed a few bugs related to the Linux/Mac version of the remote API
Added a new toolbar button to handle object assembling/disassembling. The way two objects assemble via this toolbar button can be adjusted in the object common properties dialog (Assembling button)
Added a Python binding for the remote API
Added a Java binding for the remote API
Added a Matlab binding for the remote API
Added a Urbi binding for the remote API
Added a first interface to ROS. This version is temporary and will be updated in next release
V-REP V2.6.4 (May 23rd 2012)
A new powerful mechanism was developed to allow easy access to V-REP API functions from external applications (e.g. robots): the remote API. Now V-REP supports 4 different programming approaches.
simSerialPortOpen, simSerialPortClose, simSerialPortSend and simSerialPortRead are declared deprecated. They are replaced by simSerialOpen, simSerialClose, simSerialSend, simSerialRead and simSerialCheck.
The serial port functionality is now also operational on the Mac and Linux platforms
Fixed a bug where icons would not appear on systems with an old or non-accelerated graphic card
Added a new integer parameter: sim_intparam_scene_unique_id
Added a new event callback message: sim_message_eventcallback_mainscriptabouttobecalled
V-REP V2.6.3 (April 10th 2012)
First release that is also available on the Linux platform (Ubuntu is preferred). The Mac and Linux versions are however still flagged as early beta releases
Added a new status bar
Reworked the coordinates and transformation dialog, as well as the method of moving object/items
Modified the way objects/items get selected when no key combination is used: objects get selected at mouse button release if the mouse didn't move. This makes it more convenient to navigate with the camera without always losing the object selection state
Added a checker background in the custom user interface edit mode
Added a new video compression library used by V-REP's video recorder, based on the FFmpeg library. Click here for related credits
The player version of V-REP has now been enabled to display the user settings dialog, and the layer selection dialog. Scripts can now also be edited from within the player version of V-REP
V-REP V2.6.2 (March 18th 2012)
Since this release, the concept of "simulator instances" has been abandonned for the concept of "scenes". Functionality basically stays same, but now matches the standard approach. An unlimited number of scenes can now be opened, also in the player version of V-REP
Tree elements in the scene hierarchy can now be drag-and-dropped onto other objects for convenient parent-child relationship building (similar to [Menu bar --> Edit --> Make last selected object parent] or [Menu bar --> Edit --> Make last selected object(s) orphan])
All scene hierarchy icons have been redesigned
All toolbar buttons have been redesigned
The scene hierarchy now also visualizes all opened scenes, and switching between scenes is achieved with a simple click
A new page selector was implemented, allowing to quickly visualize and select from all available pages of a given scene
A new scene selector was implemented, allowing to quickly visualize and select from all available opened scenes
The model browser has been reworked and now uses 24-bit colors for displaying model thumbnails
Custom user interfaces can now be saved and loaded separately, in a similar way as models are loaded /saved
Added 3 new API functions: simCloseScene, simLoadUI and simSaveUI
V-REP V2.6.1 (February 28th 2012)
First release that is also available on the Mac platform. The Mac release is however still a Beta release where several items are not yet fully supported.
Added an auto-save functionality. It can be turned on/off in the user settings dialog.
Fixed a bug in which V-REP would crash after an undo operation in certain conditions.
Color-coded objects in the dynamic content visualization mode.
Added a parameter to the user settings file (system/usrset.txt) that allows to adjust the GUI font size: guiFontSize_Win
Added a new integer parameter to detect the platform V-REP is running on: sim_intparam_platform
New model: "spring-damper.ttm"
New model: "motorbike.ttm"
V-REP V2.6.0 (January 27th 2012)
This release too underwent heavy internal changes in preparation for support of other platforms (Mac and Linux). Please inform us as soon as possible in case of unexpected behaviour with this release. Thanks!
All dialogs and user interfaces have been completely rewritten/redesigned/reorganized. They now all rely on the Qt framework
The application main loop (i.e. the default main client application) has been simplified and prepared for separate GUI thread functionality. The rendering of the scene is now handled internally. Following functions were added: simRunSimulator, simGetMainWindow, simLoadModule, simSendModuleMessage, simUnloadModule. Following functions were removed: simLaunchSimulator, simEndSimulator, simRenderScene, simHandleWindowMessages, simGetInstanceIndex, simGetVisibleInstanceIndex, simSwitchToInstance, simEmptyScene, simRegisterModuleName and simRegisterEventCallback.
Added following values: sim_message_eventcallback_guipass, sim_message_simulation_start_resume_request, sim_message_simulation_pause_request, sim_message_simulation_stop_request, sim_intparam_qt_version, sim_floatparam_rand. Following value is now also writable: sim_boolparam_console_visible
Adjusted/adapted all V-REP plugins: since this release, plugins should dynamically bind to the V-REP library. The task is simplified with two files distributed with V-REP: "v_repLib.h" and "v_repLib.cpp". This reduces compatibility problems linked to working with various compilers. Old plugins should be slightly modified: it is recommended to adjust old plugins in a similar way as was done for the "BubbleRob" plugin project, located in the "c_examples" directory of V-REP's installation directory. If you are having difficulties adjusting your plugin code, please contact us for assistance.
Fixed a bug linked to the click-and-select functionality.
Added several pre-configured simulation settings (e.g. physics engine settings or simulation time step settings). The user can conveniently modify them in the toolbar.
Added an option for turning dialogs semi-transparent when they loose focus.
Added a toolbar button to quickly visualize a scene's dynamic content (enabled during simulation only)
Added a plugin that allows to interface joysticks: v_repExtJoystick.dll. Like with almost all V-REP plugins, the source code can be requested if not already distributed with V-REP.
V-REP V2.5.12 (December 6th 2011)
This release too underwent heavy internal changes in preparation for support of other platforms (Mac and Linux). Please inform us as soon as possible in case of unexpected behaviour with this release. Thanks!
Improved the undo/redo functionality: undo points are now set 10-20 times faster as in previous releases, which greatly improves scene edition with large scenes.
The undo/redo functionality can now also be accessed via the ctrl-z and ctrl-y keys
Changed the splash screen and the about dialog
Since this release, it is not possible anymore to run several simulations in parallel (in different instances). This limitation greatly simplifies programming of plugins. Most old plugins should still be working, but some might need some simple adjustments. *Refer to the section below for quick instructions of modifications required.
simGetInstanceIndex, simGetVisibleInstanceIndex and simSwitchToInstance are declared deprecated and should not be used anymore.
Simplified and improved the plugin event messages
Removed following event callback messages: sim_message_object_added_or_removed, sim_message_object_selection_changed, sim_message_scene_loaded, sim_message_menu_item_selected, sim_message_eventcallback_objectscaled, sim_message_eventcallback_objectabouttobeerased, sim_message_eventcallback_objecterased and sim_message_eventcallback_objectcreated. The same functionality can be obtained with the improved sim_message_eventcallback_instancepass event callback message. This results in faster loading operation for large scenes, and simplifies programming of plugins. *Refer to the section below for quick instructions of modifications required.
Renamed rendering sensors. They are now called vision sensors, and all related API functions, API constants or references have been renamed. The old API functions and constants are kept operational for backward compatibility.
Renamed 2D elements. They are now called custom user interfaces, and all related API functions, API constants or references have been renamed. The old API functions and constants are kept operational for backward compatibility.
Added an option to allow for local lights (i.e. lights activated only with flagged cameras). Refer to the light dialog, the camera dialog and the vision sensor dialog.
Added a new toolbar button to automatically adjust the main view to the scene, or selected objects
Added a new API function: simCameraFitToView (click here for a simulation that illustrates what kind of camera movement can be achieved with that function)
Added a new API function: simIsHandleValid.
Added following API functions: simPersistentDataWrite and simPersistentDataRead.
Added a new item in the object common properties dialog ("ignored for view-fitting")
New model: "auto fitting camera.ttm"
Removed scene: "youBotDemo.ttt"
*Most old plugins will not need any modification. It is however recommended to adjust the plugin's "v_repMessage" function in a similar way as was done for the "BubbleRob" plugin project, located in the "c_examples" directory of V-REP's installation directory. If you are having difficulties adjusting your plugin code, please contact us for assistance.
V-REP V2.5.11 (November 13th 2011)
This is a bug fixing release. In version 2.5.10, when opening dialogs, V-REP could crash or freeze. This was fixed
V-REP V2.5.10 (October 21st 2011)
This release underwent heavy internal changes in preparation for support of other platforms (Mac and Linux). Please inform us as soon as possible in case of unexpected behaviour with this release. Thanks!
Removed the object common property visible. This option was a little bit confusing, and now objects can still be made invisible by moving them into a hidden layer
Removed the object common property wireframe
Added a wireframe option in the shape dialog
Removed the shape tracing option in order to simplify the shape dialog. Shape tracing can still be achieved with appropriate function calls (e.g. see the "tracer" model)
simResetTracing and simHandleTracing API functions were declared deprecated
The shape dialog was further simplified by encapsulating the shape calculation structure parameters in a separate dialog
Added new object parameter IDs
Following API functions are now also available from the Lua side: simAddSceneCustomData, simGetSceneCustomData, simAddObjectCustomData and simGetObjectCustomData
New model: "laser pointer.ttm"
New model: "tracer.ttm"
New model: "custom data viewer.ttm"
New model: "reference frame.ttm"
New model: "Accelerometer.ttm"
New model: "GyroSensor.ttm"
V-REP V2.5.9 (September 3rd 2011)
Added support for skyboxes
Added an option to hide all edges in a specific view (view popup menu)
Added an option to display thin or thick edges in a specific view (view popup menu)
Added an option to hide the information and status text when recording a movie
Added two entries in the configuration file ("usrset.txt") that allow to specify the desired resolution for a movie recording. ("movieRecordingResolutionX" and "movieRecordingResolutionY")
Added a light concrete texture to all floors
New model: "5mX5m metallic floor.ttm"
New model: "5mX5m concrete floor.ttm"
New model: "kinect.ttm" (there is already a kinect model for interfacing with the real device. This model is just a simulated device)
New model: "blue sky skybox.ttm"
New model: "felt pen.ttm"
New model: "ant hexapod.ttm"
V-REP V2.5.8 (July 20th 2011)
Improved the simAddParticleObject function to also support linear and quadratic drag parameters
Added more arguments to the API functions simGetVisionSensorImage and simGetVisionSensorDepthBuffer
New API functions: simGetArrayParameter and simSetArrayParameter
New API functions: simSetIkGroupProperties and simSetIkElementProperties
Temporarily removed following commands to facilitate a move towards other platforms: simAttachCustomMenu, simRemoveCustomMenu, simCreateCustomToolbar, simSetCustomToolbarState, simRemoveCustomToolbar, simGetWindowMessage, simProcessWindowMessage
Removed the "SimpleCustomClientApplication" project files
Added more fog parameters
Added new int parameters: sim_intparam_infotext_style and sim_intparam_settings
Added new array parameters: sim_arrayparam_gravity, sim_arrayparam_fog, sim_arrayparam_fog_color, sim_arrayparam_background_color1, sim_arrayparam_background_color2 and sim_arrayparam_ambient_light
Added new Boolean parameters: sim_boolparam_display_enabled, sim_boolparam_infotext_visible, sim_boolparam_statustext_open and sim_boolparam_fog_enabled
Added new object parameter IDs
Added a new vision sensor filter component: blob detection
New joints added to the scene are in Force/torque mode by default since this release
Added two entries in the configuration file ("usrset.txt") that allows to correct display problems with specific graphic cards / systems: "renderingSurfaceVShift" and "renderingSurfaceVResize"
New scene: "blobDetectionWithPickAndPlace.ttt"
New scene: "youBotAndHanoiTower.ttt
New model: "fast simulation mode.ttm"
New model: "water surface.ttm"
New model: "ABB IRB 360.ttm"
New model: "Blob detection camera.ttm"
Removed scene: "camFollower.ttt"
Removed scene: "deltaFKDecomposed.ttt"
Removed scene: "lineTracer-nonThreaded.ttt"
Removed scene: "parallelManipulator1.ttt"
Removed scene: "parallelManipulator2.ttt"
Removed scene: "pickAndPlace.ttt"
Removed scene: "mobileRobotDr20.ttt"
Removed scene: "transmission.ttt"
V-REP V2.5.7 (June 25th 2011)
Since this release, models do not required to have a dummy object as base object anymore (any object can be "model base" now). This tremendously improves the way models can be combined, with much less effort (e.g. just select a gripper, then a robot, and click [Menu bar --> Edit --> Make Last Selected Object Parent]: the resulting model is fully operational)
Reworked almost all models to take advantage of the improved model combination possibility (see here above)
Reworked, actualized and improved the "robot language interpreter integration" tutorial
Added an application and project files that allow retrieving data from the kinect device ('kinectServer')
New tutorial: "External controller tutorial"
New scene: "robotLanguageControl.ttt"
Removed model: "MTA robot.ttm"
New model: "MTB robot.ttm"
New model: "suction pad.ttm"
New model: "lumibot.ttm"
New model: "Standing Bill.ttm"
New model: "kinect.ttm"
V-REP V2.5.6 (June 14th 2011)
Extended the functionality of the functions related to signals. Signals can now be local (to a given simulator instance) or global
Textures can now also be applied using texture coordinate information loaded during an import operation
Added a new integer parameter: sim_intparam_visible_layers
Added a new boolean parameter: sim_boolparam_shape_textures_are_visible
New scene: "controlTypeExamples.ttt"
Bug correction (crash with spherical joints, and joints involved in loop closure with the ODE engine)
V-REP V2.5.5 (June 3rd 2011)
New API commands to build transformation interpolations: simGetRotationAxis and simRotateAroundAxis
New API command to launch executables: simLaunchExecutable
New API command to read the force/torque along/about a joint's z-axis: simJointGetForce
New model: "signal monitor.ttm"
When simulation stops, then the initial parenting will try to be restored
Added a new drawing object property: sim_drawing_itemtransparency
Added a new integer parameter: sim_intparam_dynamic_engine
Added a new recordable data stream for graphs: "Joints: force or torque"
Number of active lights not limited to 8 anymore (provided that the GPU also supports more than 8 lights)
Folders now also appear and are clickable in the lower part of the model browser window
V-REP V2.5.4 (April 22nd 2011)
Completely reworked user manual, running in web-browser now. Fixed all brocken links.
New V-REP plugin "v_repExtWii.dll" that exports 4 new commands to interact with a wiimote device: simExtWiiStart, simExtWiiEnd, simExtWiiSet and simExtWiiGet
Multiple simultaneous script edition is now suppored
New API command to apply non-central forces: simAddForce
New API command to temporarily forbid thread switches: simSetThreadAutomaticSwitch
2 API commands were removed: simGetInEditionScript and simCloseEditionScript
New data stream type: simulation pass execution time
Switched to the most recent Bullet engine V2.78beta (rev2338)
New model: "Working Bill.ttm"
Several new models of panes for industrial manufacturing cells
New model: "5mX5m wooden floor.ttm"
New model: "Sitting Bill.ttm"
Removed scene "hovercraft.ttt"
Removed scene "trackedRobots.ttt"
New scene: "inverseKinematicsOf144DoFManipulator.ttt"
V-REP V2.5.3 (March 20th 2011)
Extended the functionality of the simSerialPortRead Lua function
Extended the functionality of the simUnpackInts and simUnpackFloats functions
Extended the functionality of the simAdjustView function
New API commands for even more inter-thread synchronization control: simSetThreadResumeLocation and simResumeThreads
New API command to control the show state of an auxiliary console window: simAuxiliaryConsoleShow
New API commands to set and retrieve various values linked to objects (will be extended on a regular basis): simGetObjectIntParameter, simSetObjectIntParameter, simGetObjectFloatParameter, simSetObjectFloatParameter, simGetObjectStringParameter and simSetObjectStringParameter
New API command to adjust the number of displayed frames during simulation: simSetSimulationPassesPerRenderingPass
New V-REP plugin "v_repExtCam.dll" (using "escape.dll") that exports 4 new commands to acquire webcam images: simExtCamStart, simExtCamEnd, simExtCamInfo and simExtCamGrab
New model: "plugin enumerator.ttm"
New model: "Mesa SR4000.ttm"
New model: "Snake.ttm"
New model: "Walking Bill.ttm"
New model: "wiimote.ttm" (the associated required plugin will be shipped in next release)
New model: "Barrett Hand.ttm"
New model: "K-Junior.ttm"
New model: "webcam.ttm"
Corrected a bug where simHandleModule would generate an additional unexpected event (sim_message_eventcallback_modulehandle)
Model names in the model browser are now displayed on 2 lines if required
New models: conveyor belt models were added that perform more efficiently
Updated the conveyor belt tutorial with an alternative modeling method that performs more efficiently
Removed scene "mapBuilding.ttt"
New scene "environmentMapping.ttt"
New scene "BarrettHandPickAndPlace.ttt"
Added a mechanism to adjust the Bullet collision margin overall, or on an object-basis
V-REP V2.5.2 (February 22nd 2011)
Heightfields are now supported and can be imported from *.tga, *.csv or *.txt files
New API command to create heightfields: simCreateHeightfieldShape
New API commands to handle views and floating views: simFloatingViewAdd, simFloatingViewRemove and simAdjustView
New API command to register contact callbacks for custom handling of contacts: simRegisterContactCallback
New model: 10m x 10m terrain.ttm
Updated the quadricopter model by adding a floor and a front camera
Updated the helicopter model by adding a front camera
V-REP V2.5.1 (February 10th 2011)
Corrected bug in API function simGetObjectOrientation (when relativeTo argument was not -1, results were wrong)
New model: ABB IRB 140.ttm
New model: Omnidirectional Platform.ttm
New model: 1.0 x 0.2 conveyor.ttm
New model: Quadricopter.ttm
New model: helicopter.ttm
Extended the functionality of following 2 API functions: simGetScriptSimulationParameter & simSetScriptSimulationParameter (a parameter can now be a string containing any byte value)
Changed the default value of last argument of API function simMoveToJointPositions. Default is now 1.
New tutorial "Conveyor belt/caterpillar"
Corrected a bug in the propeller.ttm and Air jet.ttm models
V-REP V2.5.0 (January 16th 2011)
New API commands to import/export meshes: simImportMesh and simExportMesh
New API commands to create shapes and to extract the mesh of a shape: simCreateMeshShape, simCreatePureShape and simGetShapeMesh
New API command to create joints: simCreateJoint
API commands simGetShapeVertex and simGetShapeTriangle are declared deprecated
New event callback messages: sim_message_eventcallback_renderingpass and sim_message_eventcallback_modulehandleinsensingpart
Scene hierarchy now always contains a double-clickable "World" object. This replaces the environment toolbar button which was removed
New API constant: sim_boolparam_scene_and_model_load_messages
New API constants: sim_message_eventcallback_bannerclicked & sim_message_bannerclicked
New API constants for banner support
New API commands to create banners: simAddBanner and simRemoveBanner
New model: object locator.ttm
Updated the default main client application vrep.exe, and the example main client application project
Extended the lifetime of license keys (key version x.y.z now works for all V-REP versions up to x.y+1.z-1)
V-REP V2.4.15 (December 20th 2010)
New API command to implement non-blocking thread sections for external commands: simSetThreadIsFree
New API commands similar to bidirectional communication pipes: simTubeOpen, simTubeClose, simTubeRead, simTubeWrite, simTubeStatus
New API command to set the maximum force/torque a joint can exert: simSetJointForce
New API commands to create and handle auxiliary console windows: simAuxiliaryConsoleOpen, simAuxiliaryConsolePrint, simAuxiliaryConsoleClose
The Lua extension library LuaSocket is included in the distribution
Corrected a small bug that would affect the icons appearance on some graphic cards
New scene: socketAndTubeCommunicationExample.ttt
V-REP V2.4.14 (December 11th 2010)
Removed an OpenGL instruction that caused opengl driver crashes on some graphic cards (including VMWare's openGL driver "vmwogl32.dll")
V-REP V2.4.13 (December 8th 2010)
Warning message appears now when a scene was not saved (when leaving or discarding a scene)
Improved and corrected the BubbleRob tutorial
Corrected a small bug that appeared with joints in hybrid dependent mode
New dongle drivers
New API commands to handle particles: simAddParticleObject, simRemoveParticleObject and simAddParticleObjectItem
New API commands for serial port communication: simSerialPortOpen, simSerialPortClose, simSerialPortSend and simSerialPortRead
New API command to retrieve information on contacts: simGetContactInfo
New model: contact display.ttm
New model: AirJet.ttm
New model: Propeller.ttm
New model: Fire.ttm
New model: smoke.ttm
New model: Wheel.ttm
New model: Caster wheel.ttm
New model: Omniwheel 45deg A.ttm
New model: Omniwheel 45deg B.ttm
New model: Hokuyo URG 04LX UG01.ttm
New scene: hovercraft.ttt
V-REP V2.4.12 (October 30th 2010)
Corrected a small bug in the simMoveToJointPositions API command applied to joints in force/torque mode
New API commands: simSetShapeColor, simResetDynamicObject and simSetJointMode
New model: YouBot.ttm
New model: e-puck.ttm
New scene: youBotDemo.ttt
New scene: e-puckDemo.ttt
V-REP V2.4.11 (October 13th 2010)
Dual physics engine support: next to the Bullet Physics Library, the Open Dynamics Engine (ODE) is now also supported
New model: Asti.ttm
New Model: Robbie.ttm
All models and scenes have been checked/adjusted for dual physics engine support
New scene: ImageProcessingExample.ttt
V-REP V2.4.10
Minor bug fixes
V-REP V2.4.9
New API commands: simSetObjectSpecialProperty and simGetObjectSpecialProperty
Model visibility can now also be overridden
New option "ignored during path planning" for the "collidable" and "measurable" property
Improved path edition capabilities
Bug fix in the path planning module
New model: path following human
New model: path planning and following human
V-REP V2.4.8
Edge following is enabled by default in the edge edit mode
New demo scene: Katana robot with twisted cable simulation
New demo scene: ABB Fanta can challenge
New demo scene: practical path planning
New API commands: simSetExplicitHandling and simGetExplicitHandling
New camera fly mode
Improved object manipulation and snapping to grid
Automatic rendering order calculation for translucid shapes
New custom user interface option: "display only when associated object is selected"
New edit menu item: "Replace selected objects with a copy of last selected object"
New model browser window with drag-and-drop functionality
New models organized in a model library
New option for proximity sensors: Occlusion check
New option for ray-type proximity sensors: randomized detection
Option to override specific properties for whole models
New API commands: simSetModelProperty and simGetModelProperty
V-REP V2.4.7
New API command: simGetStringParameter
Option to create pure shapes with selected triangles in the triangle edit mode
Improved demo scene: Welding robot with flexible cable simulation
New tutorial: Inverse kinematics
New tutorial: Importing and preparing rigid bodies
New tutorial: Hexapod
New tutorial: Robot language interpreter integration
V-REP V2.4.6
Various minor bug fixes
New demo scene: Roller-Walker.ttt
V-REP V2.4.5
Improved simSendData and simReceiveData commands
New API command: simGetVelocity
New API command: simAddForceAndTorque
New demo scene: ACM_R5H.ttt
New demo scene: Hexapod.ttt
Bug correction in simGetPosition, simSetPosition, simGetOrientation and simSetOrientation commands
Antialiasing option for edges. Disabled by default
V-REP V2.4.4
Various minor bug fixes
V-REP V2.4.3
Texture support for shapes and custom user interfaces. Textures can be static or dynamic
V-REP V2.4.2
First public release in March 2010
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