Скачать или смотреть Robotics Simulator: Object Tracking in V-REP

The video shows a simulation performed with the Virtual Robot Experimentation Platform (V-REP: http://www.coppeliarobotics.com ). It shows several of its functionality, but the focus is on the "rendering sensor" functionality: in V-REP a rendering sensor is similar to a camera, but many parameters can be adjusted (resolution, what object is seen, etc.) and filters can be applied: V-REP offers more than 30 built-in filter components that can be combined in any way and that allow processing a rendering sensor's image, and extracting useful information (e.g. center of gravity of a color patch, orientation, etc.). The user can also write own plugins that export custom filter components. The hexapod robots walks by using V-REP's inverse kinematics module combined with V-REP's dynamics module. The hexapod CAD model is courtesy of Lyall Randell.

Following is V-REP's functionality: distributed control (unlimited concurrently running threaded or non-threaded scripts directly attached to objects or models), inverse kinematics (any mechanism, closed, redundant, with nested loops, etc.), dynamics (in V-REP the user can switch at any time from the Bullet Physics library to the Open Dynamics Engine, both are supported), proximity sensors (exact minimum mesh distance calculation within a customizable detection volume), camera-like sensors (with a large amount of available filter components that can be combined to achieve image processing), exact minimum mesh-mesh distance calculation (for any type of mesh, also concave, open, polygon soup, etc.), elaborate graphing possibilities, fast mesh-mesh interference checking, holonomic path planning in 2-6 dimensions and non-holonomic path planning for car-like vehicles, unlimited number of custom user interfaces with integrated edit-mode, integrated shape edit modes (triangle, vertex and edge), surface cutting simulation, etc.

One or more textures in this 3D scene have been created with images from CGTextures.com. These images may not be redistributed by default, please visit www.cgtextures.com for more information.