paperstiger

paperstiger ·

With the help of someone else, I can adapt code from

from __future__ import print_function,division
from klampt imp...

The thing is, even if I uncomment it into

world = WorldModel()
    create.primitives.box(1, 1, 1, world=world, name='Y', type='GeometricPrimitive')
    create.primitives.box(2, 2, 2, center=[1.4,0,0], world=world, name='Z', type='GeometricPrimitive'...

How to compute negative signed distance, i.e. penetration and direction to move? It seems that now I can only get 0 distance and some non-sense points.

Code snippet is

world = WorldModel()
    create.primitives.box(1, 1, 1, world=world, name='Y')  #, t...

The problem is my end effector is a plate and I want to keep its normal upwards. I know the two point ik problem at start and goal. But how to do it for the intermediate milestones in motion planning functions?

I am kinda confused with box function to create a rigidobject box to the environment

def box(width,depth,height,center=None,R=None,t=None,world=None,name=None,mass=float('inf'),type='TriangleMesh')

First, I am not sure what's the difference between c...

I looked into the code for create a box, when mass is not inf, the code is

bmass.setInertia([width/12,depth/12,height/12])

Is this incorrect since mass is not used here?

More on this issue. When I am recording video, it seems that the video recording suddenly stops if ODESimulator raise warning information. Besides, can the default ffmpeg command to include -pix_fmt yuv420p? Moreover, in my simulation some weird behavior o...

Thanks for your reply. I played with object mass and somehow avoided this issue. Previously the mass is 3 kg and now I change it to 0.1 kg. I also tuned PID to make them smaller.

This type of thing happens usually when the PID controller is going unstable, or when the object is already penetrating through the robot upon simulator initialization.

Can you attach the code, robot file, and object file that generates this error?

You m...

I am doing a simulation task where in the first a few seconds, an object has to fall on a plate held by the robot from a very short height (a few cm). However, it seems that the calculation of impact is not correct. After that it is giving weird er...

In GLRealtimeProgram class, there is a function named idle and control_loop. However, idle is called at 50 Hz but control_loop is never called. Controller has higher rate than 50 Hz, how to set controller at higher rate?

Quote from Kris' reply

idle() is called whenever your program is idle, and will handle simulation + GUI redrawing. control_loop() is just a convenient place to put control code, specifically (for example, if you want to switch your code to do comma...

Quote from Kris' reply

idle() is called whenever your program is idle, and will handle simulation + GUI redrawing. control_loop() is just a convenient place to put control code, specifically (for example, if you want to switch your code to do comma...

In GLRealtimeProgram class, there is a function named idle and control_loop. However, idle is called at 50 Hz but control_loop is never called. Controller has higher rate than 50 Hz, how to set controller at higher rate?