OpenVR: A software tool contributes to research of robotics

This paper gives an overview of OpenVR, a software tool that is able to construct a virtual robot and its working environment from CAD source files. The virtual robot can be played with the same as a real robot by providing corresponding controller and sensor interfaces, thus contribute to the research of robotics in concept visualization, robot design, and algorithm and software development. General purposed algorithms are also given to simplify the effect for the execution of complex manipulation tasks.