<div dir="ltr">By the way, is there any easy way to extract DH parameters from a model programmatically? I noticed that i can get the Transformation matrix. should not be very hard to recover the DH parameters, but maybe there is some implemented function. <div>
<br></div><div>Regards,</div></div><div class="gmail_extra"><br><br><div class="gmail_quote">On Thu, Oct 24, 2013 at 8:18 PM, Luis Filipe Rossi <span dir="ltr"><<a href="mailto:luisf.rossi@gmail.com" target="_blank">luisf.rossi@gmail.com</a>></span> wrote:<br>
<blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex"><div dir="ltr">Thank you. That will be very helpful. <div><br></div><div>I will send you de model tomorrow. It is at the lab computer. It is basically the SR1 model with no chest, arms and head. I added the force sensor as it is at the HRP-4C model. </div>
<div><br></div><div>Best regards,</div></div><div class="gmail_extra"><div><div class="h5"><br><br><div class="gmail_quote">On Thu, Oct 24, 2013 at 2:37 AM, Shin'ichiro Nakaoka <span dir="ltr"><<a href="mailto:s.nakaoka@aist.go.jp" target="_blank">s.nakaoka@aist.go.jp</a>></span> wrote:<br>
<blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex"><br>
Let me give additional comments to my last post.<br>
<div><br>
> last process, and I think it is not so difficult to do the last process<br>
> by using a text editor.<br>
<br>
</div>For doing this, Choreonoid provides a useful function. When you select a<br>
BodyItem in the ItemTreeView and press "Ctrl + R", Choreonoid reloads<br>
the model file and the new model file is immediately reflected to all<br>
the views including the scene view. You can use it to confirm if your<br>
editing result is correct immediately after you do some edit in the text<br>
editor. I always use this function when I edit model files.<br>
<div><br>
<br>
(10/24/13 13:32), Shin'ichiro Nakaoka wrote:<br>
><br>
> Hi Luis,<br>
><br>
>> For now I am using OpenHRP3 to edit the models. Can't you use the same<br>
>> routines?<br>
><br>
> The answer is basically yes.<br>
> I think you can use it to edit models, but sorry, I myself have not used<br>
> it, so I'm not so confident if the function works completely.<br>
><br>
> Basically what you have to do is first make a robot CAD model using some<br>
> CAD tool, and export each body parts separated by joints as individual<br>
> VRML files, and then write a main VRML file which has links to those<br>
> files of the body parts. OpenHRP3 just provides the function for the<br>
> last process, and I think it is not so difficult to do the last process<br>
> by using a text editor.<br>
><br>
>> Regarding the force sensors. Not sure what i did wrong, but maybe you can<br>
>> take a look . If i add a force sensor to the model, when i try to add a<br>
>> BodyRTC to the model, the choreonoid crashes.<br>
><br>
> I'm sorry, I think there are still some bugs in the related functions.<br>
> If possible, could you attach the main VRML file of your created model<br>
> files? Then I'll check it. Or if you cannot make it public, can you maka<br>
> a sample model file with force sensors by modifiying a sample model such<br>
> as SR1 in the same way as you did.<br>
><br>
> Shin'ichiro Nakaoka<br>
><br>
<br>
<br>
<br>
</div><div><div>--<br>
Shin'ichiro Nakaoka <<a href="mailto:s.nakaoka@aist.go.jp" target="_blank">s.nakaoka@aist.go.jp</a>><br>
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</div></div></blockquote></div><br><br clear="all"><div><br></div></div></div><div class="im">-- <br><div dir="ltr"><div>Luís Filipe Rossi<br>Electrical Engineer</div>
<div><span style="border-collapse:separate;text-indent:0px;letter-spacing:normal;font:medium 'Times New Roman';text-transform:none;white-space:normal;word-spacing:0px"><span style="border-collapse:collapse;font-family:arial,sans-serif;font-size:13px">Biomechatronics
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</div></div>
</blockquote></div><br><br clear="all"><div><br></div>-- <br><div dir="ltr"><div>Luís Filipe Rossi<br>Electrical Engineer</div>
<div><span style="text-transform:none;text-indent:0px;border-collapse:separate;font:medium 'Times New Roman';white-space:normal;letter-spacing:normal;color:rgb(0,0,0);word-spacing:0px"><span style="border-collapse:collapse;font-family:arial,sans-serif;font-size:13px">Biomechatronics
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de Sensores Integráveis e Sistemas</span></span></span></span></div>
<div>Escola Politécnica<br>Universidade de São Paulo</div>
<div>Cel. +55 (11) 97662-9234</div></div>
</div>