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CoppeliaSim (formarly V-REP) is a powerful cross-platform 3D simulator based on a distributed control architecture: control programs (or scripts) can be directly attached to scene objects and run simultaneously in a threaded or non-threaded fashion. It features advanced physics engines which allows to simulate real-world physics and object interactions (collisions, object dynamics, etc.).
CoppeliaSim is cross-platform and works on Windows, Linux and macOS. Download the educational version CoppeliaSim Pro EDU for your particular system.
./coppeliasim.sh
coppeliasim
CoppeliaSim supports multiple ways of simulation control including internal Lua scripting, ROS connectivity or external API. The documentation for external API functions can be found in: CoppeliaSim Python remote API documentation CoppeliaSim C++ remote API documentation
Tutorial on basic interfacing between V-REP and python can be found on the web: V-REP Python remote API tutorial
./programming/remotaApiBindings/python/python
./programming/remotaApiBindings/lib/lib
The python scripts for controlling the robot in CoppeliaSim or V-REP used in during the labs are for python version 3.5. Besides, they rely on python libraries that help to solve the lab tasks. The required libraries are already installed on the lab computers, but they can be install using, e.g.,
sudo apt install python-numpy python-scipy python-matplotlib python-pandas python-sympy python-nose