Search found 18 matches

by jovan_s
21 May 2021, 15:52
Forum: General questions
Topic: Workspace visualization
Replies: 5
Views: 3760

Re: Workspace visualization

Yes, it outputs the error, the same as above. Here is my minimalistic scene: https://www.dropbox.com/s/mauego992i3s6gy/torsoWorkspace.ttt?dl=0 I was using CoppeliaSim Edu v.4.1.0. As you can see, the point cloud is calculated for one UR5 robot, which is dynamic, but the arm then falls down. The scri...
by jovan_s
19 May 2021, 15:33
Forum: General questions
Topic: Workspace visualization
Replies: 5
Views: 3760

Re: Workspace visualization

Hello, I figured out what the problem was. I have a tree-structured kinematic chain, a sort of torso with 2 UR5 arms mounted at the top. The arms were connected via force sensors and were dynamic. As soon as I made each arm orphan the codes did work. However, I now have another problem. If I make th...
by jovan_s
17 May 2021, 12:22
Forum: Feature requests
Topic: Update scene examples with new functions
Replies: 1
Views: 5221

Update scene examples with new functions

Hello Coppelia! This is not precisely a feature request, more of a suggestion. I find your examples in scenes folder very useful. I just have a small remark. You often fix many bugs in new versions of Coppelia and add new functions or deprecate old ones. However, the code in the example scenes still...
by jovan_s
17 May 2021, 10:15
Forum: General questions
Topic: Workspace visualization
Replies: 5
Views: 3760

Workspace visualization

Hello Coppelia, I'm working on a scene with several UR5 robots, and I wanted to visualize their workspaces. Your scenes/workspace.ttt example proved very useful, but I do have 2 questions. In that example you use a deprecated function to create a point cloud: if usePointCloud then sim.addPointCloud(...
by jovan_s
30 Mar 2021, 11:35
Forum: General questions
Topic: Problems with force sensor
Replies: 7
Views: 1600

Re: Problems with force sensor

Hi

Thanks for the advice. When I make the upper part of the body non-respondable, I get a bit better results. I'm very interested to know what method the dynamic engines use to calculate/estimate contact forces? Is that something you could share?

Cheers
by jovan_s
25 Mar 2021, 11:50
Forum: General questions
Topic: Problems with force sensor
Replies: 7
Views: 1600

Re: Problems with force sensor

Hi

Here is the link:

https://www.dropbox.com/s/c0n8dsscm3t6x ... l.ttt?dl=0

I read the sensor in the targetMovements#0 script at line 231

Cheers
by jovan_s
22 Mar 2021, 17:12
Forum: General questions
Topic: Problems with force sensor
Replies: 7
Views: 1600

Re: Problems with force sensor

Hi, The difference is quite large. For instance, with one engine forces would be around 4-6N, and with another, it would be around 20-30N. The movement of my robot is in a threaded script, similar to how you did it in the scenes/ik_fk_simple_examples/10-applyingIkToDynamicallyEnabledModels.ttt with ...
by jovan_s
10 Mar 2021, 16:36
Forum: General questions
Topic: Problems with force sensor
Replies: 7
Views: 1600

Problems with force sensor

Hello Coppelia, I see that there were some recent posts dealing with tool force control, force sensors, etc. I also have a problem with the results from the force sensor. The results that I get from it are very different depending on the dynamics module that I use. I expected them to differ a bit, b...
by jovan_s
12 Feb 2021, 13:25
Forum: General questions
Topic: forceVector a nil value
Replies: 4
Views: 212

Re: forceVector a nil value

Just one more tiny question. I have a force sensor connecting 2 objects, and I want to measure the force with which one component is pressing the other. If I want to measure the z component of the force what is the direction of that force? If the sensor returns a negative Fz value, is it negative re...
by jovan_s
12 Feb 2021, 10:46
Forum: General questions
Topic: forceVector a nil value
Replies: 4
Views: 212

Re: forceVector a nil value

Thanks a lot!
Cheers