My group in undergraduate-college thesis is in need of some quick guidance in order for us to move further in the project.
Our project involves a successfully URDF-imported stl model of a bipedal leg-frame which we intend to do experiments on in Coppelia. We just have a problem with trying to figure out how to move revolute joints using the Lua code.
All my group needs is/are the necessary line/s of code to use in order to specifically move a revolute joint in Coppeliasim. What we were hoping we could be able to do is to construct an algorithm for the different joints to move one-after-another at different angles and velocities so as to mimick human motion.
Any assistance at all regarding this towards the right direction would be greatly appreciated.
Need advice regarding robot model in Coppeliasim
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- Posts: 49
- Joined: 26 Oct 2021, 01:35
Re: Need advice regarding robot model in Coppeliasim
Hello,
probably the best is to have a look at the demo scene scenes/motorcontrollerExamples.ttt: there you will see the various types of controllers possible, e.g. position control, velocity control, force/torque control, and also custom control, where methods can be mixed.
Once you get a good understanding of what you want to do and how to do it with one joint, it is just a matter of scaling things towards n joints.
Typically, you could use a position control, with an upper velocity limit.
Another relevant demo scene is scenes/trajectoryAndMotion/rmlOnlineTrajectoryGeneratorExamples.ttt. The scene is not using dynamics, but the approach would be similar with dynamically enabled joints.
cheers
probably the best is to have a look at the demo scene scenes/motorcontrollerExamples.ttt: there you will see the various types of controllers possible, e.g. position control, velocity control, force/torque control, and also custom control, where methods can be mixed.
Once you get a good understanding of what you want to do and how to do it with one joint, it is just a matter of scaling things towards n joints.
Typically, you could use a position control, with an upper velocity limit.
Another relevant demo scene is scenes/trajectoryAndMotion/rmlOnlineTrajectoryGeneratorExamples.ttt. The scene is not using dynamics, but the approach would be similar with dynamically enabled joints.
cheers
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- Posts: 49
- Joined: 26 Oct 2021, 01:35
Re: Need advice regarding robot model in Coppeliasim
Hello. Thank you for this. I will look into these sample scenes.
How may I view them? On the web or on Coppelia?
How may I view them? On the web or on Coppelia?
Re: Need advice regarding robot model in Coppeliasim
You'll have to run CoppeliaSim (those demo scenes comes with the installation package)
Cheers
Cheers
Re: Need advice regarding robot model in Coppeliasim
Hello. I open these scenes in Coppelia from Github but they do not run and they have errors. I am using version 4.3. what is the problem?
Re: Need advice regarding robot model in Coppeliasim
Hi, I'm just learning CoppeliaSim and I have a bipedal project. Do you have a source, tutorial, or useful code that can help me do the same? Unfortunately, I did not find anything useful in the search and my work is very necessary. Please help me if possible.
Re: Need advice regarding robot model in Coppeliasim
Hello,
what kind of scenes are you talking about? And what errors?
Cheers
what kind of scenes are you talking about? And what errors?
Cheers