A magnet keeps rotating when implementing magnetic dipoles in VREP
Posted: 16 Aug 2018, 03:41
Dear Sir or Madam,
I have been trying to use VREP to implement the dipole-dipole model of two permanent magnets as shown in the following video and GitHub repository.
https://www.youtube.com/watch?v=Lw2KfwgySWI
https://github.com/vustormlab/storm_gazebo_ros_magnet
They used ROS and Gazebo to realize the simulation. However, when I use VREP to do the same thing, the magnet would keep rotating, which is unrealistic for a real magnet. I have attached the results generated by the attached codes.
Initial state in VREP: https://www.dropbox.com/s/bo7l02glpt7ff ... P.jpg?dl=0
Final state in VREP: https://www.dropbox.com/s/pnihskt5pwfpu ... P.jpg?dl=0
Initial state in Gazebo: https://www.dropbox.com/s/zmg0zk7qwkzxp ... o.png?dl=0
Final state in Gazebo: https://www.dropbox.com/s/wrttfq8bfge0i ... o.png?dl=0
MATLAB codes and scene for VREP: https://www.dropbox.com/s/vrjghxbjiiaf2 ... P.zip?dl=0
The capsule magnet in Gazebo wouldn't rotate, while it will keep rotating in VREP. I have tried to set same values for related parameters of the ODE physics engine in VREP. Is there any parameters can prevent the magnet from rotating? I tried to tune the linear and angular damping values in VREP, but I failed to achieve a satisfactory result.
Could anyone help me to get rid of this situation? Thanks in advance for any help.
I have been trying to use VREP to implement the dipole-dipole model of two permanent magnets as shown in the following video and GitHub repository.
https://www.youtube.com/watch?v=Lw2KfwgySWI
https://github.com/vustormlab/storm_gazebo_ros_magnet
They used ROS and Gazebo to realize the simulation. However, when I use VREP to do the same thing, the magnet would keep rotating, which is unrealistic for a real magnet. I have attached the results generated by the attached codes.
Initial state in VREP: https://www.dropbox.com/s/bo7l02glpt7ff ... P.jpg?dl=0
Final state in VREP: https://www.dropbox.com/s/pnihskt5pwfpu ... P.jpg?dl=0
Initial state in Gazebo: https://www.dropbox.com/s/zmg0zk7qwkzxp ... o.png?dl=0
Final state in Gazebo: https://www.dropbox.com/s/wrttfq8bfge0i ... o.png?dl=0
MATLAB codes and scene for VREP: https://www.dropbox.com/s/vrjghxbjiiaf2 ... P.zip?dl=0
The capsule magnet in Gazebo wouldn't rotate, while it will keep rotating in VREP. I have tried to set same values for related parameters of the ODE physics engine in VREP. Is there any parameters can prevent the magnet from rotating? I tried to tune the linear and angular damping values in VREP, but I failed to achieve a satisfactory result.
Could anyone help me to get rid of this situation? Thanks in advance for any help.