[choreonoid-users 00011] Re: Does it support Force Sensor?

[Luis Filipe Rossi]

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.

Regards,


On Thu, Oct 24, 2013 at 8:18 PM, Luis Filipe Rossi <luisf.rossi at gmail.com>wrote:

> Thank you. That will be very helpful.
>
> 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.
>
> Best regards,
>
>
> On Thu, Oct 24, 2013 at 2:37 AM, Shin'ichiro Nakaoka <s.nakaoka at aist.go.jp
> > wrote:
>
>>
>> Let me give additional comments to my last post.
>>
>> > last process, and I think it is not so difficult to do the last process
>> > by using a text editor.
>>
>> For doing this, Choreonoid provides a useful function. When you select a
>> BodyItem in the ItemTreeView and press "Ctrl + R", Choreonoid reloads
>> the model file and the new model file is immediately reflected to all
>> the views including the scene view. You can use it to confirm if your
>> editing result is correct immediately after you do some edit in the text
>> editor. I always use this function when I edit model files.
>>
>>
>> (10/24/13 13:32), Shin'ichiro Nakaoka wrote:
>> >
>> > 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
>> >
>>
>>
>>
>> --
>> Shin'ichiro Nakaoka <s.nakaoka at aist.go.jp>
>> _______________________________________________
>> choreonoid-users mailing list
>> choreonoid-users at choreonoid.org
>> https://choreonoid.org/mailman/listinfo/choreonoid-users
>>
>
>
>
> --
> Luís Filipe Rossi
> Electrical Engineer
> Biomechatronics Lab. / Grupo de Sensores Integráveis e Sistemas
> Escola Politécnica
> Universidade de São Paulo
> Cel. +55 (11) 97662-9234
>



-- 
Luís Filipe Rossi
Electrical Engineer
Biomechatronics Lab. / Grupo de Sensores Integráveis e Sistemas
Escola Politécnica
Universidade de São Paulo
Cel. +55 (11) 97662-9234
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