[choreonoid-users 00006] Re: Does it support Force Sensor?

[Shin'ichiro Nakaoka]

Hi Luis,

> For now I am using OpenHRP3 to edit the models. Can't you use the same
> routines?

The answer is basically yes.
I think you can use it to edit models, but sorry, I myself have not used
it, so I'm not so confident if the function works completely.

Basically what you have to do is first make a robot CAD model using some
CAD tool, and export each body parts separated by joints as individual
VRML files, and then write a main VRML file which has links to those
files of the body parts. OpenHRP3 just provides the function for the
last process, and I think it is not so difficult to do the last process
by using a text editor.

> Regarding the force sensors. Not sure what i did wrong, but maybe you can
> take a look . If i add a force sensor to the model, when i try to add a
> BodyRTC to the model, the choreonoid crashes.

I'm sorry, I think there are still some bugs in the related functions.
If possible, could you attach the main VRML file of your created model
files? Then I'll check it. Or if you cannot make it public, can you maka
a sample model file with force sensors by modifiying a sample model such
as SR1 in the same way as you did.

Shin'ichiro Nakaoka

(10/23/13 21:31), Luis Filipe Rossi wrote:
> Thank you for you reply,
> 
> For now I am using OpenHRP3 to edit the models. Can't you use the same
> routines?
> 
> Regarding the force sensors. Not sure what i did wrong, but maybe you can
> take a look . If i add a force sensor to the model, when i try to add a
> BodyRTC to the model, the choreonoid crashes.
> 
> Thank you for the explanation on how to connect the force sensor. I will
> take a try when I am done with the crashes.
> 
> Best regards,
> 
> 
> On Mon, Oct 21, 2013 at 1:12 AM, Shin'ichiro Nakaoka
> <s.nakaoka �� aist.go.jp>wrote:
> 
>>
>> Hello Luis,
>>
>>> Does choreonoid support force sensor (used for ZMP stabilization) as
>>> OpenHRP3? If yes, how can i access it from the simulator?
>>
>> Yes, Choreonoid supports basic sensors including force sensors.
>> If a robot model has force sensors and you select "Create Default Port"
>> in the property view of the BodyRTCItem, the BodyRTCItem creates the
>> ports correspinding to the sensor outputs. The names of the ports are
>> like "forcesensor", "gsensor", "gyrometer". The remaining thing to do is
>> to connect ports of your controller RTC to those ports to get the sensor
>> outputs.
>>
>> The connection can be done in a variety of ways such as using the RT
>> System Editor, but currently Chreonoid itself does not provides good
>> fucntions to do that. One of the functions is that if you enable the
>> "Auto Connect" option of a BodyRTCItem and specify "Controller module
>> name", the item setup the controller module (RTC) and connect the ports
>> of the BodyRTC and the controller RTC in such a way that an in-port and
>> an out-port with the same name are connected. So if your controller RTC
>> has an in-port with name "forcesensor", it is connected to the BodyRTC's
>> forcesensor outport.
>>
>> Another way to do the connection by Choreonoid is to write a config
>> file. Example of this are the "PA10Pickup" and "OpenRTM-TankJoystick"
>> samples. In the "lib/choreonoid-1.4/rtc" directory, there are
>> "PA10Pickup.conf" and "TankJoystic.conf". When you specify "Use
>> Configuration File" for the "Configuration mode" property of a
>> BodyRTCItem, a config file which has the same basename with the
>> controller RTC module is read to setup the port creation and connection.
>> The format of the conf files is the same as that of OpenHRP3's
>> ControllerBridge conf files. Please see
>> http://www.openrtp.jp/openhrp3/en/controller_bridge.html to know the
>> details of the format.
>>
>> However, those way of setup is a kind of quick job, and I'd like to
>> provide better functions in the next version of Choreonoid.
>>
>>> Can I edit models inside the choreonoid?
>>
>> No, Choreonoid does not provide such a function.
>> I'd like to acheive this in the future, too.
>> I think it's not so diificult to write such a function,
>> and I'm glad if someone tries to develop it.
>>
>> --
>> Shin'ichiro Nakaoka <s.nakaoka �� aist.go.jp>
>>
>>> Hello,
>>>
>>> Does choreonoid support force sensor (used for ZMP stabilization) as
>>> OpenHRP3? If yes, how can i access it from the simulator?
>>>
>>> Can I edit models inside the choreonoid?
>>>
>>> Thank you!
>>>
>>> Regards,
>>>
>>> --
>>> Luís Filipe Rossi
>>> Electrical Engineer
>>> Biomechatronics Lab. / Grupo de Sensores Integráveis e Sistemas
>>> Escola Politécnica
>>> Universidade de São Paulo
>>> Cel. +55 (11) 97662-9234
>>
>>
>> _______________________________________________
>> choreonoid-users mailing list
>> choreonoid-users �� choreonoid.org
>> https://choreonoid.org/mailman/listinfo/choreonoid-users
>>
> 
> 
> 
> 
> 
> _______________________________________________
> choreonoid-users mailing list
> choreonoid-users �� choreonoid.org
> https://choreonoid.org/mailman/listinfo/choreonoid-users
> 


-- 
Shin'ichiro Nakaoka <s.nakaoka �� aist.go.jp>