Search found 35 matches

by Uli_v
16 Jan 2019, 19:38
Forum: Bug reports
Topic: Changing parent of object changes its position (by a small numerical error)
Replies: 0
Views: 648

Changing parent of object changes its position (by a small numerical error)

Hi, I noticed that changing the parent of an object changes its position (slightly), if the parent does not have orientation (0,0,0) (in world reference). In my example I am using "Dummy" as parent for "Cuboid". My code below is running in a threaded child script (I call once ChangingParentCheckPosi...
by Uli_v
15 Jan 2019, 21:44
Forum: General questions
Topic: How to use sim.setObjectParent and preserve the absolute position?
Replies: 2
Views: 547

How to use sim.setObjectParent and preserve the absolute position?

I noticed that using sim.setObjectParent is different than "moving" the object in the scene hierarchy to a different parent. I.e. if I move an object that has a parent to the top level (root of the scene), then the position in the scene of this object (relative to "world") does not change. This is t...
by Uli_v
31 Dec 2018, 18:24
Forum: Bug reports
Topic: OMPL "invalid bounds" error in 6DoFHolonomicpathPlanning if orientation of object "Start" modified
Replies: 2
Views: 917

Re: OMPL "invalid bounds" error in 6DoFHolonomicpathPlanning if orientation of object "Start" modified

I think I know what the issue is. The precision of the values for the quaternions passed from V-REP to the OMPL library might not as high as expected by OMPL. In SO3StateSpace.cpp of OMPL the MAX_QUATERNION_NORM_ERROR is defined as: static const double MAX_QUATERNION_NORM_ERROR = 1e-9; But the norm ...
by Uli_v
17 Dec 2018, 18:54
Forum: Bug reports
Topic: OMPL "invalid bounds" error in 6DoFHolonomicpathPlanning if orientation of object "Start" modified
Replies: 2
Views: 917

OMPL "invalid bounds" error in 6DoFHolonomicpathPlanning if orientation of object "Start" modified

Hi, If I run the 6DoFHolonomicpathPlanning example without any modifications, then it works fine. I am using V-REP PRO EDU version 3.5.0 (rev. 6) on Ubuntu 16.04. But if I change the orientation for the Dummy object "Start" (e.g. set "gamma" to 10 degrees), then I get an "invalid bounds" error for t...