Search found 14 matches

by cxt
02 Oct 2021, 01:55
Forum: General questions
Topic: Add other constraint in OMPL task solver
Replies: 2
Views: 4428

Add other constraint in OMPL task solver

Hi, My problem requires the path solved by motion planning to satisfy position and orientation constraints. I went through OMPL API and an example code of motion planning, it seems I need to write my custom isStateValidCallback function to overwrite the default one that only does collision checking....
by cxt
26 Mar 2021, 20:42
Forum: General questions
Topic: Attach static object to RG2 gripper
Replies: 2
Views: 1156

Re: Attach static object to RG2 gripper

Hi, Thanks for your reply! Actually this is not very related to my post of setting object back to static from dynamic, as what I have tried is to set the grasped object static + respondable or dynamic + respondable. I cannot set it to be non-respondable as it will fall automatically, but I haven't t...
by cxt
26 Mar 2021, 20:38
Forum: General questions
Topic: SBL from OMPL
Replies: 2
Views: 1249

Re: SBL from OMPL

Wow,

This looks pretty cool. Actually that problem comes seldomly. I will post it here later if I still see it in the new version
by cxt
20 Mar 2021, 05:10
Forum: General questions
Topic: Attach static object to RG2 gripper
Replies: 2
Views: 1156

Attach static object to RG2 gripper

Hi, I am implementing grasping of complex shape objects, and found attach mode grasping in RG2 gripper code is very useful. I set object to dynamic and found it worked well when the grasping pose is well designed, however it made the object flying around the gripper when the grasp pose is not that a...
by cxt
19 Mar 2021, 20:51
Forum: General questions
Topic: SBL from OMPL
Replies: 2
Views: 1249

SBL from OMPL

Hi, I am using SBL motion planner from OMPL plugin, and sometimes get this error below. This case doesn't happen frequently enough. Any suggestions to check why this error happens? '[simExtOMPL:warning] OMPL: /home/marc/Documents/ompl-1.4.2-Source/src/ompl/base/src/Planner.cpp:248: SBL: Skipping inv...
by cxt
19 Mar 2021, 18:46
Forum: General questions
Topic: Make object static from dynamic?
Replies: 1
Views: 983

Make object static from dynamic?

Hi,

I used sim.setObjectInt32Parameter(object_handle, sim.shapeintparam_static, 0) to set static object to be dynamic, but cannot set it back to static when passing last param to 1. Any methods to implement this?
by cxt
15 Mar 2021, 22:15
Forum: General questions
Topic: Set customized texture to compound shapes programmatically
Replies: 1
Views: 617

Set customized texture to compound shapes programmatically

Hi, As in the title, I want to set customized texture to compound shapes programmatically, which I found 'sim.setShapeTexture' didn't work (it worked perfectly on single shapes). I found 'quick texture' in simulator ui can work also but didn't find corresponding api. Do you have any suggestions with...
by cxt
13 Mar 2021, 05:46
Forum: General questions
Topic: Get object weight through a force sensor
Replies: 1
Views: 678

Get object weight through a force sensor

Hi, I want to measure the number of particles poured into a container shape model I imported from dae file, and I searched in the forum and found measuring weight of container seems the best way to do this. I need to do this in programs instead of simulator uis as I will dynamically create random ne...
by cxt
26 Feb 2021, 22:06
Forum: General questions
Topic: Implement a trajectory follow controller
Replies: 4
Views: 643

Re: Implement a trajectory follow controller

Oh I see it, it has prefix 'ABB'. never mind
by cxt
26 Feb 2021, 22:00
Forum: General questions
Topic: Implement a trajectory follow controller
Replies: 4
Views: 643

Re: Implement a trajectory follow controller

Hi, I am trying to find the demo model you posted (IRB4600) but cannot find it though. I have version 4.1.0 rev.1. I searched through scene files and found 10-applyingIkToDynamicallyEnabledModels.ttt in scenes/ik_fk_simple_examples and find this seems include the same as you mentioned. I will try th...