Search found 33 matches

by JohnnyMudcrab
27 Jun 2014, 10:30
Forum: General questions
Topic: Delegation of 2 child scripts
Replies: 3
Views: 2166

Re: Delegation of 2 child scripts

Hey the bounding box is moving because the target dummy is moving (check the 3rd layer in the second row to make it visible). I see two problems here. First, the path is not moving with the rest of the robot. Which means the set point (posOnPath) is way out of range. Second, you mix up explicit and ...
by JohnnyMudcrab
02 Jun 2014, 16:31
Forum: General questions
Topic: Debug my code
Replies: 2
Views: 2806

Re: Debug my code

hey i mostly use this one for debugging, because it offers everything i want, is easy to use and don't have any dependencies. https://github.com/slembcke/debugger.lua If don't want to pollute your code with dbg() stops you can use a remote debugger, for example this one https://github.com/LuaDist/mo...
by JohnnyMudcrab
23 May 2014, 12:27
Forum: General questions
Topic: Active Compliance with Custom Control Script
Replies: 21
Views: 5705

Re: Active Compliance with Custom Control Script

a little update, just for informational reasons. i turned of hybrid ik mode and put all joints in force/torque mode. when i now read joints position i certainly do get the same values but shifted in time. i marked the matching occurrences in bold. child script joint0 -0,00014724335051142 joint1 0,34...
by JohnnyMudcrab
23 May 2014, 11:44
Forum: General questions
Topic: Active Compliance with Custom Control Script
Replies: 21
Views: 5705

Re: Active Compliance with Custom Control Script

ok, i see
thanks a lot for your patience!

best regards
by JohnnyMudcrab
23 May 2014, 08:25
Forum: Bug reports
Topic: V-Rep bug1-2 algorithm
Replies: 3
Views: 2793

Re: V-Rep bug1-2 algorithm

This is just an implementation of the bug algorithm, but i think this post might be just some kind of trolling.

cheers
by JohnnyMudcrab
23 May 2014, 07:09
Forum: General questions
Topic: Active Compliance with Custom Control Script
Replies: 21
Views: 5705

Re: Active Compliance with Custom Control Script

You are right, this is what happens by default. As i don't use the default values it should look like this. [*]1. all child scripts are called ( simGetJointPosition is called ) [*]2. ik calculations are made and applied to the joints [*]3. the joint callback scripts are called ( simGetJointPosition ...
by JohnnyMudcrab
22 May 2014, 07:11
Forum: General questions
Topic: Active Compliance with Custom Control Script
Replies: 21
Views: 5705

Re: Active Compliance with Custom Control Script

Hello, Right, so you have to access the joint values of the other joints from within one single callback script. You still shouldn't rely on simGetJointPosition for that, but you could have the other callback scripts signal their last position with simSetFloatSignal (for instance). To send the curre...
by JohnnyMudcrab
21 May 2014, 22:01
Forum: General questions
Topic: Active Compliance with Custom Control Script
Replies: 21
Views: 5705

Re: Active Compliance with Custom Control Script

Hello, So in your case, use currentPos. As mentioned before, i am working with a mimo system and in order to control it properly i not only need the one joints current position, but all joints current position. Therefore this is not an option. simGetJointPosition will fetch a value that is updated a...
by JohnnyMudcrab
21 May 2014, 14:54
Forum: General questions
Topic: Active Compliance with Custom Control Script
Replies: 21
Views: 5705

Re: Active Compliance with Custom Control Script

That is awesome. Thanks a lot! I found something weird. When i set the simulation time down to 5ms and calculate the setpoints via child script the controller works perfect. But, when i put it into a custom control script it works much worse. So i compared the joint positions obtained from the regul...