Embedded scriptsV-REP is a highly customizable simulator: almost every step of a simulation is user-defined. This flexibility is allowed through an integrated script interpreter. The scripting language is Lua, which is an extension programming language designed to support general procedural programming. For more information on Lua, refer to the Lua crash course section and the online documentation. See here for acknowledgments and credits related to Lua. [Lua logo] V-REP extends Lua's commands and adds V-REP specific commands that can be recognized by their sim-prefixes (e.g. simHandleCollision). For a list of all V-REP specific Lua-commands, refer to the regular API. New, customized Lua-commands can also be registered from the main client application or from a plugin. Refer to the related API-functions for more information. Lua's functionality itself can easily be extended by making use of a Lua extension library available online. Two major types of embedded scripts are supported: Following are the main differences between the main script and a child script: An auxiliary type of embedded scripts is also supported: callback scripts. Callback scripts usually handle low-level control customization routines, typically the user-defined joint control loop. Next to embedded scripts, V-REP supports also add-ons, that allow to customize the simulator itself. Recommended topics |