Kinematic and Dynamic parameters

[realjsk]

Where to get the kinematic and dynamic parameters of the robots provided in V-Rep (IRB 140, for instance)?

[coppelia]

Hello,

what parameters are you refering to?
As an example, you can check a shape's dynamic parameters (such as mass, inertia, material, etc.) in the shape dynamic properties. You can also set/get some of those parameters via the API (e.g. simSetShapeMassAndInertia).

Cheers

[realjsk]

What about the geometric properties of the links/joints (e.g., length, diameter, etc.)? Thanks.

[coppelia]

Check out following:

• simGetObjectPosition
• simGetObjectOrientation
• simGetShapeMesh
• simGetObjectFloatParameter with object parameter IDs 15-20.

Cheers

[realjsk]

Do I have to write a code to get them. Can't I get them through the user interface?

[coppelia]

You can also use the user interface for that of course. You can import, export, create objects, change parameters, etc.

Cheers

[realjsk]

You missed my point. What I meant was if I work with any of the manipulators that come with V-REP (say IRB 140, for instance) and I want to know the length of link 1, for example, how can I do that from the user interface? But I finally got it. I just have to see the bounding box under "view/modify geometry". Thanks.