CoppeliaSim interface with DQ Robotics: From zero to hero #2
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Fixed hyperlink for repository download as a zip file.
README.md
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| # CoppeliaSim interface with DQ Robotics: From zero to hero | ||
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| A crash course on the interface with CoppeliaSim robot simulator. |
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| 1. Install [MATLAB](https://www.mathworks.com/products/matlab.html). | ||
| 2. Clone the latest version of the [DQ Robotics](https://github.com/dqrobotics/matlab) or [download it as a ZIP package](https://github.com/dqrobotics/matlab/archive/refs/heads/master.zip). |
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This is bad practice, as users will download a non-release version (the fact that we've been taking an eternity to finish the modifications for the release version doesn't matter---it is still bad practice). Please add a footnote explaining why users need to do it.
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I'm suggesting the master branch here because of the proposed tutorial structure. If we stick to the release version, the tutorial ends in lesson 3. The current release uses set_joint_positions in both LBR4pVrepRobot and YouBotVrepRobo. This method only works with a passive joints (or dynamics disabled in newer CoppeliaSim versions). Lesson 4 (dynamic world) requires the modifications I sent in this pull request.
Should I change it to the release version or add a footnote instead?
| 4. Clone this repository or [download it as a ZIP package](https://github.com/dqrobotics/learning-dqrobotics-with-coppeliasim/archive/refs/heads/main.zip). | ||
| 5. Install [CoppeliaSim](https://www.coppeliarobotics.com/). | ||
| 6. Download the [CoppeliaSim scenes](https://osf.io/2tfsx/) (the .ttt files) used in the lessons. |
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This process should be streamlined. Please add an option for users to use curl so that they can download the all scenes using one command. See description here.
README.md
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| ## References | ||
| As a crash course on CoppeliaSim interface, these lessons assume basic knowledge of dual quaternion algebra and on the use of DQ Robotics and CoppeliaSim. |
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basic knowledge of dual quaternion algebra and on the use of
README.md
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| As a crash course on CoppeliaSim interface, these lessons assume basic knowledge of dual quaternion algebra and on the use of DQ Robotics and CoppeliaSim. | ||
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| 1. For an introduction on dual quaternion algebra to robotics, see [1]. |
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introduction on -> introduction to
README.md
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| 1. For an introduction on dual quaternion algebra to robotics, see [1]. | ||
| 2. For basic lessons on kinematic modeling and control using DQ Robotics, see [2]. |
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For basic MATLAB lessons on kinematic modeling and control of serial manipulators using DQ Robotics, see (...)
README.md
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| ## Comments/Suggestions... | ||
| If you have any issues, please let us know. |
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please let us know via the [Discussion forum](add link here).
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Please change the license to comply with the DQ Robotics standards:
% (C) Copyright 2011-2024 DQ Robotics Developers
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% This file is part of DQ Robotics.
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% DQ Robotics is free software: you can redistribute it and/or modify
% it under the terms of the GNU Lesser General Public License as published by
% the Free Software Foundation, either version 3 of the License or
% (at your option) any later version.
%
% DQ Robotics is distributed in the hope that it will be useful,
% but WITHOUT ANY WARRANTY; without even the implied warranty of
% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
% GNU Lesser General Public License for more details.
%
% You should have received a copy of the GNU Lesser General Public License
% along with DQ Robotics. If not, see <http://www.gnu.org/licenses/>.
%
% DQ Robotics website: dqrobotics.github.io
%
% Contributors to this file:
% Frederico Fernandes Afonso Silva ([email protected])Changes in the text
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You will mostly be using this panel when setting-up new scenes, as, once the simulation is running, it will be more convenient to control it using the interface with DQ Robotics.
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You will mostly use this panel when setting up new scenes, as once the simulation is running, it will be more convenient to control it using the interface with DQ Robotics.
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Objects on CoppeliaSim are rigidly attached to their parents. Which means that moving 'Floor' would drag 'box' alongside it, whereas the opposite is not true.
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Objects on CoppeliaSim are rigidly attached to their parents. This means that moving 'Floor' would drag 'box' alongside it, whereas the opposite is false.
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Double click on 'Cuboid_respondable[0]' (click on the drawing, not on the text), then select 'Dynamic properties dialog' to bring the interface:
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Double click on the 'Cuboid_respondable[0]' icon, then select 'Dynamic properties dialog':
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Objects with the box 'body is dynamic' ticked are subject to dynamic simulation (e.g., will be affected by gravity force).
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Objects with the box 'body is dynamic' ticked are subject to dynamic simulation (e.g., will be affected by gravity).
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Different engines deal differently with all simulation aspects (e.g., contact). Try to change engines and notice how the superimposed respondable cubes react with each engine. Notice that some engines might not be available on your installation (e.g., Vortex is proprietary and won't allow you to perform dynamic simulations unless you purchase a license for it).
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Different engines deal differently with all simulation aspects (e.g., contact). Try to change engines and notice how the superimposed respondable cubes react with each engine. Notice that some engines might not be available on your CoppeliaSim installation (e.g., Vortex is proprietary and won't allow you to perform dynamic simulations unless you purchase a license).
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This menu allows you do drag the object on the scene, define it's [x; y; z] coordinates, or translate/scale it along the x/y/z axis.
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This menu allows you to drag the object on the scene, define its (x,y,z) coordinates, or translate/scale it along the x, y, and z axes.
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Similar to the options on the translation menu, here you can drag the object, define it's orientation, or rotate around the x/y/z axis.
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Similar to the options on the translation menu, here you can drag the object, define its orientation, or rotate around the x, y, and z axes.
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Double click in any joint. This will bring the 'Scene Object Properties' menu. Then click on the 'Dynamic properties dialog' to open the 'Joint Dynamic Properties' menu.
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Double-click on any joint. This will bring the 'Scene Object Properties' menu. Then click the 'Dynamic Properties dialog' to open the 'Joint Dynamic Properties' menu.
Lastly, change the metadata of all scenes on OSF to ensure they point to the correct repository.
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Scenes for the tutorial "CoppeliaSim interface with DQ Robotics: From zero to hero," available at: https://github.com/ffasilva/learning-dqrobotics-in-matlab/tree/coppeliasim-interface/coppeliasim_interface
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Scenes for the tutorial "CoppeliaSim interface with DQ Robotics: From zero to hero," available at: https://github.com/dqrobotics/learning-dqrobotics-with-coppeliasim
Added curl option to get the .ttt scene files.
Minor text fix.
Minor text fix.
Minor text fix.
Added link to the discussion forum.
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Hi @bvadorno, Thank you for the careful review! I finished the requested modifications. Please let me know if there is still something missing. Kind regards, |
Hi @dqrobotics/developers,
I've added the draft and the first lesson of the crash course "CoppeliaSim interface with DQ Robotics: From zero to hero." Let me know what you think of it.
Kind regards,
Frederico