Search found 35 matches

by mthor13
13 Sep 2019, 02:15
Forum: General questions
Topic: OpenGL3 and Aliasing
Replies: 2
Views: 100

Re: OpenGL3 and Aliasing

Thanks for the reply.
Changing normalBias to 1 for Omnidirectional_light solved the problem for me.

Best Regards,
Mathias Thor
by mthor13
11 Sep 2019, 08:59
Forum: General questions
Topic: OpenGL3 and Aliasing
Replies: 2
Views: 100

OpenGL3 and Aliasing

Dear Coppelia Robotics, I successfully compiled V-REP with openGL3 renderer for cameras. However, it seems like there is a lot of aliasing when using OpenGL3 (see below image). https://i.imgur.com/NUovOqm.png Is there any way to solve this or will it be addressed in future updates? Best Regards, Mat...
by mthor13
26 Aug 2019, 04:43
Forum: General questions
Topic: How to prevent foot slipping
Replies: 5
Views: 1040

Re: How to prevent foot slipping

Thanks for the feedback, I will update accordingly.
by mthor13
23 Aug 2019, 07:57
Forum: General questions
Topic: How to prevent foot slipping
Replies: 5
Views: 1040

Re: How to prevent foot slipping

I finally got time to implement a slip detector. The Lua code is as follows (please let me know if you have any improvements): function slip_detector( object_handle, vel_threshold ) index=0 objectsInContact,contactPt,forceDirectionAndAmplitude=sim.getContactInfo(sim.handle_all,object_handle,index) l...
by mthor13
20 Aug 2019, 04:48
Forum: General questions
Topic: How to prevent foot slipping
Replies: 5
Views: 1040

Re: How to prevent foot slipping

Thanks - I am always impressed with your detailed responses and the speed at which they are given. I think it is very beneficial for the V-REP community!

I will try to implement a slip detector and provide the solution in a follow-up comment.

Best Regards,
Mathias Thor
by mthor13
19 Aug 2019, 04:34
Forum: General questions
Topic: How to prevent foot slipping
Replies: 5
Views: 1040

How to prevent foot slipping

Dear everyone, I am currently using V-REP for training legged robots to walk using reinforcement learning. One desirable property of the learned walking behaviour is that the legs are not dragged on the floor. However, it seems like I cannot make the floor-foot friction high enough to prevent/penali...
by mthor13
17 Jun 2019, 10:24
Forum: General questions
Topic: Learning joint dynamics
Replies: 6
Views: 795

Re: Learning joint dynamics

Hi Coppella,

That completely answers my question, thank you very much.

If you are interested, then you can find a presentation of the research, from where I got the idea, here: https://www.youtube.com/watch?v=aTDkYFZFWug

Best Regards,
Mathias Thor
by mthor13
14 Jun 2019, 07:32
Forum: General questions
Topic: Learning joint dynamics
Replies: 6
Views: 795

Re: Learning joint dynamics

Hmmm, I don't think that would work as that would still make use of the joint dynamics specified by the physics engine (e.g., vortex). What I want is to replace the default joint (which takes inputs and outputs sensor values) with another function (i.e., a neural network that takes the same inputs a...
by mthor13
10 Jun 2019, 10:15
Forum: General questions
Topic: Learning joint dynamics
Replies: 6
Views: 795

Re: Learning joint dynamics

Hi RobAtLab, Isn't the Joint callback functions only for low-level control algorithms as the physical engine handle the joint? The reason why I want to completely replace the joint dynamics is that by learning to mimic the joint of the real-life robotic system it is easier to cross the reality gap (...
by mthor13
06 Jun 2019, 14:00
Forum: General questions
Topic: Learning joint dynamics
Replies: 6
Views: 795

Learning joint dynamics

Dear all,

I came across a study where they learn the actuator/joint dynamics instead of using physic engine calculations.

Is there any simple way of replacing the code for a joint with, e.g., a neural network that takes as input the command and outputs sensory values?

Best Regards,
Mathias Thor