Search found 112 matches

by kleinash
09 Sep 2016, 08:17
Forum: General questions
Topic: Simple Barrett hand
Replies: 7
Views: 2644

Re: Simple Barrett hand

Thank you kindly. Worked perfectly.
by kleinash
06 Sep 2016, 15:24
Forum: General questions
Topic: Simple Barrett hand
Replies: 7
Views: 2644

Simple Barrett hand

Hi, Currently, the model for the simple Barrett hand closes all fingers at the same time. Is there any way to separate the finger on the one side from the other two? So that the two "sides" can close independently. Making it just a little more realistic. I looked through the tree structure and the c...
by kleinash
15 Aug 2016, 10:27
Forum: General questions
Topic: Bug fixing in VREP
Replies: 4
Views: 1437

Re: Bug fixing in VREP

Thx. Maybe I am just seeing a problem where there isn't one.
by kleinash
11 Aug 2016, 16:07
Forum: General questions
Topic: Bug fixing in VREP
Replies: 4
Views: 1437

Re: Bug fixing in VREP

That sorted a bunch of issues - Yes I knew all the sensors were there, and I was saving them, but not anymore. Doing this uncovered something though. I recorded part of a grasp: https://drive.google.com/open?id=0BzJFg5HZBNCcckpodWNDOENROUk See the red box, its from the moment of inertia which we wor...
by kleinash
08 Aug 2016, 16:31
Forum: General questions
Topic: Bug fixing in VREP
Replies: 4
Views: 1437

Bug fixing in VREP

Hi, I have a scene where I perform a grasp of a mug using the simplified barrett hand. I place the hand, grasp the object and remove the base to see if the grasp is stable using remote API. There are a number of bugs I would like to investigate and correct. I have a 50s video that shows what is goin...
by kleinash
28 Jul 2016, 13:05
Forum: General questions
Topic: Working with KUKA and VREP
Replies: 7
Views: 3961

Re: Working with KUKA and VREP

That worked perfectly, thank you.

Thank you for always making my day by when I come online and see my question is in red meaning there is a reply.
by kleinash
27 Jul 2016, 13:44
Forum: General questions
Topic: Working with KUKA and VREP
Replies: 7
Views: 3961

Re: Working with KUKA and VREP

Hi again, I think I may have found a way to get the quaternion by rerunning the simulation and using this: [res, hand_pos_quat] = vrep.simxGetObjectGroupData(h.id , h.hand, 11, vrep.simx_opmode_blocking) res = 0, hand_pos_quat = [] I tried streaming first, and getting a collection handle - the h.han...
by kleinash
22 Jul 2016, 10:37
Forum: General questions
Topic: Working with KUKA and VREP
Replies: 7
Views: 3961

Re: Working with KUKA and VREP

So looks like this is only for C and LUA - no remote method?

Code: Select all

matrix = vrep.simxBuildMatrix(new_pos,new_orient)
quaternion = vrep.simxGetQuaternionFromMatrix(matrix)
Thats great! I am going to use that - thank you Marc!
by kleinash
21 Jul 2016, 14:55
Forum: General questions
Topic: Working with KUKA and VREP
Replies: 7
Views: 3961

Re: Working with KUKA and VREP

Hi, Thanks. Yes, I believe it is different combinations of xyz and alpha beta gamma. Not sure when V-REP added Quaternions, but it was after I did *all* of my recordings in Euler. They should all be the same - i.e. extrinsic R=rotz(gamma)*roty(beta)*rotx(alpha). So with the Euler angles that is how ...
by kleinash
20 Jul 2016, 06:53
Forum: General questions
Topic: Working with KUKA and VREP
Replies: 7
Views: 3961

Working with KUKA and VREP

I would really appreciate some help with this: I have a simulation where I record thousands of position and orientation of the Barrett gripper. simxGetOrientation with respect to the world frame (or reference frame) According to V-REP convention Q = rotx(alpha)->roty(beta)->rotz(gamma) but its an ex...