Search found 7966 matches

by coppelia
10 Sep 2013, 17:20
Forum: General questions
Topic: problem in linking my model's pieces, physics simulation, re
Replies: 7
Views: 5171

Re: problem in linking my model's pieces, physics simulation

That's also a possibility if you don't want a differential per se. But your hierarchy doesn't look right. For instance LeftBogie is directly parented with Caterpillar_respondable (there is no joint in-between). Try: LeftBoggy ---> passiveJoint ---> RightBoggy ---> activeJoint ---> Caterpillar_respon...
by coppelia
10 Sep 2013, 15:00
Forum: General questions
Topic: Cross Compilation to real e-puck
Replies: 6
Views: 5273

Re: Cross Compilation to real e-puck

If I understood you correctly: you want to run your Epuck in an autonomous fashion (no communication with any server) but you also want to test your Epuck algorithm in a virtual environment, such as V-REP you want to use the same program (c code) for above 2 first items is that right? If so, just pr...
by coppelia
10 Sep 2013, 14:16
Forum: General questions
Topic: question about velocity
Replies: 7
Views: 2530

Re: question about velocity

yes, you can do that: Add a graph (menu bar --> Add --> Graph) Open the graph properties , and add a new data stream to record . For Data stream type select Joint: force or torque . For Object / items to record , specify the name of your joint . Click Ok. Add a floating view with [right click into v...
by coppelia
10 Sep 2013, 10:27
Forum: General questions
Topic: question about velocity
Replies: 7
Views: 2530

Re: question about velocity

You will have to set your joints into force/torque mode, and enable the motor and position control. You can do this in the joint properties , and in the joint dynamics properties . Have a look at the robot Models/robots/non-mobile/KUKA LBR4+.ttm . That one has all its joints in force/torque mode, an...
by coppelia
10 Sep 2013, 10:22
Forum: General questions
Topic: Setting object position in V-REP
Replies: 5
Views: 8256

Re: Setting object position in V-REP

Hello Sarah,

if you are using Matlab, use the function simxSetObjectPosition:

Code: Select all

vrep.simxSetObjectPosition(clientID,objectHandle,-1,objectPosition,vrep.simx_opmode_oneshot);
Cheers
by coppelia
10 Sep 2013, 10:19
Forum: General questions
Topic: problem in linking my model's pieces, physics simulation, re
Replies: 7
Views: 5171

Re: problem in linking my model's pieces, physics simulation

Hello, I am afraid that the differential is not that easy to achieve: if you simply constraint one joint to follow the inverse of the other (as Eric suggested for instance), then only one joint moves freely. The other one only copies its position and operates as a motor. But it is feasable, have a l...
by coppelia
09 Sep 2013, 20:02
Forum: General questions
Topic: problem in linking my model's pieces, physics simulation, re
Replies: 7
Views: 5171

Re: problem in linking my model's pieces, physics simulation

Hello,

Make sure you have carefully read and well understood this page about the basic dynamics design considerations. Best would be to also entirelly try to follow the BubbleRob tutorial at least.

Cheers
by coppelia
09 Sep 2013, 16:32
Forum: General questions
Topic: question about velocity
Replies: 7
Views: 2530

Re: question about velocity

Have a look at following code: if (simGetScriptExecutionCount()==0) then jointHandle=simGetObjectAssociatedWithScript(sim_handle_self) positions={0,1,4,5,6,0} posDt=4.2 -- 0.012 in your case startTime=simGetSimulationTime() end simHandleChildScript(sim_handle_all_except_explicit) t=simGetSimulationT...
by coppelia
09 Sep 2013, 15:25
Forum: General questions
Topic: question about velocity
Replies: 7
Views: 2530

Re: question about velocity

Hello, You are using the Reflexxes motion library to do your movement calculation. With that library you specify the initial position, velocity, the final position, the final velocity, the maximum velocity, the maximum acceleration and the maximum tolerated jerk. In that case, it is impossible to ar...
by coppelia
09 Sep 2013, 11:58
Forum: Feature requests
Topic: External IK for Java
Replies: 5
Views: 4677

Re: External IK for Java

This shouldn't be too difficult. You will have to: put the code into a shared library add some Java native interface functions (basically just wrapper functions) Currently the code of the external IK is still scrambled (remained from before V-REP went open), but it will not be scambled anymore in fu...