# ARIE_vrep_assembly

**Repository Path**: raysworld/ARIE_vrep_assembly

## Basic Information

- **Project Name**: ARIE_vrep_assembly
- **Description**: ARIE visualization package based on v-rep simulation environment
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2018-03-26
- **Last Updated**: 2022-06-17

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# V-rep based ARIE Visualization
<p>
    <a href="https://gitee.com/raysworld/ARIE_vrep_assembly/blob/master/LICENSE"><img alt="Software License" src="https://img.shields.io/badge/license-CASIA-blue.svg"></a>
    <a><img alt="Python Version" src="https://img.shields.io/badge/python-3.5-yellow.svg"></a>
    <a><img alt="V-REP Version" src="https://img.shields.io/badge/vrep-3.4.0-yellow.svg"></a>
</p>
ARIE visualization package based on v-rep simulation environment

The simulation is used to visualize the 3D attractive region in environment in part-mating tasks. The simulation depends on V-Rep, a light-weight robot simulation environment. Using its collision detection and remote API, the contact state between the objects to be mated are extracted. 

Matlab or Python is used as the scripting language to write simulation logic, and communicates with V-Rep through TCP protocol.

说明：

该仿真主要基于V-Rep的碰撞检测和remote API，利用Matlab或者Python作为脚本语言编写仿真逻辑，通过TCP协议与V-Rep仿真环境通信，从而实现三维环境约束域的可视化。

主要分两部分配置：服务器端（V-Rep）和脚本端（Matlab/Python）


## 配置和运行方法

1. 安装V-REP（目前在3.4.0版本上可正常运行）；
2. 安装Python 3.5；
3. 从https://gitee.com/raysworld/ARIE_vrep_assembly下载源代码；
4. 运行```/vrep_files```文件夹下的run_vrep.ps1脚本开启vrep console，每个开启的console对应一个端口，可通过remote API进行通讯；
5. 运行```/python_files```文件夹下的run_sim.bat脚本运行仿真


### 服务器端（V-Rep）配置

所需文件放置在/vrep_files文件夹下：

```RemoteApi_ARIE_Assembly.ttt```

后缀名为.ttt的是V-Rep的场景文件，里面包含了一些V-Rep的remote API没有提供的函数（通过自定义函数功能实现）。具体请参见remoteApiCommandServer上绑定的Customization script。