Search found 8 matches

by mohtashem
15 Feb 2019, 12:53
Forum: General questions
Topic: On UR5 Motion Planning using OMPL
Replies: 1
Views: 392

On UR5 Motion Planning using OMPL

Hi, I tried using the motionPlanningDemo1 code for UR5. I've posted the scene here: https://drive.google.com/file/d/11_YrhlIR07VvmbB7tCmYciffzSb5t09y/view?usp=sharing I modified the necessary specs like collision pairs, ik group etc for UR5 so that I could use it like KUKA LBR in the original motion...
by mohtashem
26 Jan 2019, 12:52
Forum: General questions
Topic: How to use simSetGraphUserData from Python remote api?
Replies: 1
Views: 302

How to use simSetGraphUserData from Python remote api?

Hi, I am using Python remote api and VREP to simulate some torque control of a double inverted pendulum. The code is entirely written in python with no code on the vrep side. I am specifying disturbing forces in the python code and I need to have it displayed in V-rep graphs to compare with the join...
by mohtashem
22 Dec 2017, 10:13
Forum: General questions
Topic: Is there a way to changing the decimal mark from , (comma) to a . (full-stop)
Replies: 1
Views: 486

Re: Is there a way to changing the decimal mark from , (comma) to a . (full-stop)

Nevermind, I figured it out. I can do it in matlab using the delimiter options in the Data Import feature.

Cheers
by mohtashem
22 Dec 2017, 01:23
Forum: General questions
Topic: Is there a way to changing the decimal mark from , (comma) to a . (full-stop)
Replies: 1
Views: 486

Is there a way to changing the decimal mark from , (comma) to a . (full-stop)

Hi, Forgive my ignorance, but where can one change the decimal mark from , (comma as in 0,004) to a . (full-stop as in 0.004) in V-Rep? I am writing the data to a .txt file to plot in matlab and matlab interprets two columns as four columns because of the comma representation of the decimal mark. 0,...
by mohtashem
28 Nov 2017, 11:02
Forum: General questions
Topic: How to add disturbance in Joint space or Cartesian Space for Torque/Impedance Control
Replies: 5
Views: 1620

Re: How to add disturbance in Joint space or Cartesian Space for Torque/Impedance Control

Hi, thanks for your reply. I think I have done exactly what has been mentioned in the last post. Is there a proper way of checking if synchronous mode is working fine? Although, when i run my simulation via ros, the model in my v-rep starts functioning and maintains the position error does converge ...
by mohtashem
20 Nov 2017, 12:09
Forum: General questions
Topic: How to add disturbance in Joint space or Cartesian Space for Torque/Impedance Control
Replies: 5
Views: 1620

Re: How to add disturbance in Joint space or Cartesian Space for Torque/Impedance Control

Hi, Thank you for your suggestion. As a matter of fact, I am using rosinterface helper in my scene to obtain the simulation time which I use in C++ to send the trajectory to the robot model in V-Rep. So when I run the code in ROS, it automatically starts starts the simulation in V-Rep. I just have a...
by mohtashem
14 Nov 2017, 14:19
Forum: General questions
Topic: How to add disturbance in Joint space or Cartesian Space for Torque/Impedance Control
Replies: 5
Views: 1620

How to add disturbance in Joint space or Cartesian Space for Torque/Impedance Control

Hi, I am working on KUKA LWR4+ robot. I've been trying to implement a control strategy involving Cartesian Impedance Control and Adaptive Fuzzy control. I am using (Eclipse)C++ and V-REP (Vrep-ROSinterface). Joints are in Torque/force mode with the motor enabled and the control loop disabled. I want...
by mohtashem
26 May 2017, 20:13
Forum: General questions
Topic: How to plot a variable received from another Ros node in a graph in Vrep
Replies: 1
Views: 657

How to plot a variable received from another Ros node in a graph in Vrep

Hi, I have started using Vrep-RosInterface to control the joints of Kuka Lbr 4p. I created a rostopic /desiredjointtrajectory from C++ node to which Vrep node is subscribed. The call back function created in Vrep stores the desired joint values (which change according to the simulation time elapsed)...