Now what I am interested in are (in general all the forces acting on the objects, but more importantly) the friction forces between the wheels on each arm of the robot and the floor. I am using the Vortex dynamics engine. Currently I am using the
sim.getContactInfo(sim.handle_all, Arm1LW, sim.handleflag_extended)
command to return the forces between the wheel and hte floor. I have a few questions about the values that this function returns:1) This function returns a single contact point between the wheel and the floor, however, when I turn on "Display contact points", it shows 4 contact points between each wheel and the floor. Is there a difference between the contact points displayed and the single one returned? As in, are the displayed ones calculated by V-REP and the one returned by the function calculated by the Vortex dynamics engine?
2) If I want to know how this force is calculated, I should inspect just the theory guide of the Vortex engine, or is there something in V-REP affecting this as well?
Thank you for any answers.
Roman