Search found 8982 matches

by coppelia
23 Nov 2021, 07:48
Forum: General questions
Topic: Redundant arm IK solution with one fixed joint
Replies: 8
Views: 5176

Re: Redundant arm IK solution with one fixed joint

You can find an updated version of the plugin here (Ubuntu18) and here (Ubuntu20). Let me know if that works.

Cheers
by coppelia
22 Nov 2021, 15:20
Forum: General questions
Topic: Redundant arm IK solution with one fixed joint
Replies: 8
Views: 5176

Re: Redundant arm IK solution with one fixed joint

Thanks Kat,

indeed, there is a bug!
I am not sure there is a workaround in that case (well, in your particular case where the passive joint is at the base of the kinematic chain, you can simply define a kinematic chain that start just above the passive joint).
What platform are you running?

Cheers
by coppelia
22 Nov 2021, 08:46
Forum: General questions
Topic: Calculating gravity torque for joints of robot manipulator
Replies: 1
Views: 3479

Re: Calculating gravity torque for joints of robot manipulator

Hello, if you need a specific controller like in your case, make sure to use a joint callback function . In a joint callback function, you can gather relevant information (e.g. joint angle, link mass, link velocity, etc.) and provide as output a force/torque, and a maximum velocity (the force/torque...
by coppelia
22 Nov 2021, 08:37
Forum: General questions
Topic: kuka youbot slipping
Replies: 2
Views: 3568

Re: kuka youbot slipping

Hello, is the robot slipping because the wheels are still slightly rolling? If yes, then make sure to click Lock motor when target velocity is zero in the joint dynamics dialog . Otherwise, try selecting a different physics engine. Or better, slightly adjust the masses and/or inertias of the wheel e...
by coppelia
22 Nov 2021, 08:30
Forum: General questions
Topic: Redundant arm IK solution with one fixed joint
Replies: 8
Views: 5176

Re: Redundant arm IK solution with one fixed joint

Kat,

you should post a link to a dropbox file or similar, where you give permission to read

Cheers
by coppelia
19 Nov 2021, 16:00
Forum: General questions
Topic: Redundant arm IK solution with one fixed joint
Replies: 8
Views: 5176

Re: Redundant arm IK solution with one fixed joint

Hello,

that sounds strange. Can you post your scene?

Cheers
by coppelia
19 Nov 2021, 13:31
Forum: General questions
Topic: About floor size
Replies: 1
Views: 3033

Re: About floor size

Hello,

the default floor is 5x5 meter. Each bright or dark patch is 0.5*0.5 meters. But that can be changed of course, e.g. if you scale the floor.
Best is probably to select the visible part of the floor, then in the shape geometry dialog, check the size of its bounding box.

Cheers
by coppelia
19 Nov 2021, 11:24
Forum: General questions
Topic: Why doesn't the robot walk in a straight line
Replies: 3
Views: 4895

Re: Why doesn't the robot walk in a straight line

Welcome to the world of differences between physics engines! Keep in mind that each physics engine has some strengths and weaknesses. You will have to find out yourself what engine fits your particular application best. Additionally, you can try to adjust and tweak your model, so that it operates in...
by coppelia
18 Nov 2021, 08:32
Forum: General questions
Topic: sending loction to asti robot
Replies: 1
Views: 3453

Re: sending loction to asti robot

Hello, this is not a trivial task for many reasons, the main being: you will need to figure out the collision-free path from its current location to the goal location you will then have to figure out the control commands to actuate the legs of the robot, in order to follow the planned path The secon...
by coppelia
17 Nov 2021, 15:40
Forum: General questions
Topic: How to use simulation data to control real robots
Replies: 2
Views: 3542

Re: How to use simulation data to control real robots

Hello,

this will vary from robot to robot. However, most robots support to feed them with a trajectory in joint or 3D space. Others will need to convert the data into a robot language program, etc.

Cheers