Combine two existing non-static models
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- Posts: 5
- Joined: 07 Jan 2015, 09:51
Combine two existing non-static models
How can I combine two existing non-static models in vrep? The documentation says that I can use force sensors to integrate them but exactly how should I do that?
Re: Combine two existing non-static models
Hello,
if you have two non-static shapes, then you can use a force sensor to link them rigidly, like:
But if you have more complex items such as models, it is a bit more difficult, depending on where they need to be rigidly connected. E.g. with following two models:
if you want to connect them at the base (easy), then you can do:
If you want to connect them at the tip, it is more difficult. You can either rearrange the model's hierarchy, so that the models are built upside-down and you can connect them again at the base.
Or you have to use a loop-closure, like:
where loopClosureDummyA and loopClosureDummyB are linked via a dynamic overlap constraint.
Cheers
if you have two non-static shapes, then you can use a force sensor to link them rigidly, like:
Code: Select all
shape1 --> forceSensor --> shape2
Code: Select all
shapeA1 --> jointA --> shapeA2
shapeB1 --> jointB --> shapeB2
Code: Select all
shapeA1 --> jointA --> shapeA2
--> forceSensor --> shapeB1 --> jointB --> shapeB2
Or you have to use a loop-closure, like:
Code: Select all
shapeA1 --> jointA --> shapeA2 --> loopClosureDummyA
shapeB1 --> jointB --> shapeB2 --> forceSensor --> loopClosureDummyB
Cheers