V-REP Introduction - Revision history

Lynch: Replaced content with "See this page for the updated version."

2020-01-25T07:06:14Z

Replaced content with "See this page for the updated version."

Lynch at 15:19, 23 November 2019

2019-11-23T15:19:20Z

← Older revision		Revision as of 10:19, 23 November 2019
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	[[image:youbot-top-view.png\|right\|x150px]]		[[image:youbot-top-view.png\|right\|x150px]]

	'''(This scene had minor updates in ~~November~~ ~~2019, to fix a problem on some Macs in loading csv files~~.)'''		'''(This scene had minor updates in August 2018.)'''

	This scene animates the motion of the youBot based on a csv file representing the trajectory of the robot. Each row of the csv file represents a timestep and each column of the csv file is a configuration variable through time. The csv file has either 12 or 13 columns. Columns 1-3 represent the mobile base configuration variables, ordered as (phi, x, y), where phi is the angle of the base and (x, y) is the location of its center. Columns 4-8 represent the five arm joint angles, joint 1 through joint 5. Columns 9-12 represent the wheel angles, where wheel 1 is column 9 and wheel 4 is column 12, and the numbering of the wheels is shown in the figure on the right. Column 13 is optional. If it is present, then 0 means the gripper is open and 1 means the gripper is closed. If there is no column 13, then the gripper is open by default. All angles are specified in radians.		This scene animates the motion of the youBot based on a csv file representing the trajectory of the robot. Each row of the csv file represents a timestep and each column of the csv file is a configuration variable through time. The csv file has either 12 or 13 columns. Columns 1-3 represent the mobile base configuration variables, ordered as (phi, x, y), where phi is the angle of the base and (x, y) is the location of its center. Columns 4-8 represent the five arm joint angles, joint 1 through joint 5. Columns 9-12 represent the wheel angles, where wheel 1 is column 9 and wheel 4 is column 12, and the numbering of the wheels is shown in the figure on the right. Column 13 is optional. If it is present, then 0 means the gripper is open and 1 means the gripper is closed. If there is no column 13, then the gripper is open by default. All angles are specified in radians.
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	[[image:youbot-capstone.png\|right\|x150px]]		[[image:youbot-capstone.png\|right\|x150px]]

	'''(This scene had minor updates in ~~August~~ ~~2018~~.)'''		'''(This scene had minor updates in November 2019, to fix a problem on some Macs in loading csv files.)'''

	[[Mobile Manipulation Capstone\|'''This page has a description of a capstone mobile manipulation project using this scene, as well as more details regarding the operation of the physics engines, the kinematics of the youBot, properties of the end-effector (gripper), and properties of the cube.''']]		[[Mobile Manipulation Capstone\|'''This page has a description of a capstone mobile manipulation project using this scene, as well as more details regarding the operation of the physics engines, the kinematics of the youBot, properties of the end-effector (gripper), and properties of the cube.''']]

Lynch: /* Demonstration V-REP Scenes */

2019-11-23T09:16:26Z

Demonstration V-REP Scenes

← Older revision		Revision as of 04:16, 23 November 2019
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	[[Media:V-REP_scenes-Nov2019.zip\|'''DOWNLOAD ALL DEMONSTRATION V-REP SCENES AND INPUT FILES DESCRIBED BELOW, DATED NOVEMBER 2019.''']]		[[Media:V-REP_scenes-Nov2019.zip\|'''DOWNLOAD ALL DEMONSTRATION V-REP SCENES AND INPUT FILES DESCRIBED BELOW, DATED NOVEMBER 2019.''']]

			Older versions of the scenes:
	([[Media:V-REP_scenes.zip\|~~This is the~~ August 2018 ~~version of the V-REP scenes.~~]])		* [[Media:V-REP_scenes.zip\|August 2018]]

	To run any of the scenes below, the first step will be to [http://www.coppeliarobotics.com/downloads.html download V-REP] for your operating system. You should download the latest non-limited EDUCATIONAL version. Next you will have to install V-REP. On Windows, you simply have an EXE that installs V-REP. On a Mac, you first need to unzip the download. The directory that is produced by unzipping the download contains a <code>vrep.app</code> directory that should allow you start V-REP through normal mechanisms, e.g., Finder/Spotlight/Launchpad. On Linux, you will need to extract the compressed tar archive (e.g., using a command like <code>tar xvf V-REP_PRO_EDU_V3_3_2_64_Linux.tar.gz</code>). Then you need to change directories into the V-REP source directory and run the <code>vrep.sh</code> shell script.		To run any of the scenes below, the first step will be to [http://www.coppeliarobotics.com/downloads.html download V-REP] for your operating system. You should download the latest non-limited EDUCATIONAL version. Next you will have to install V-REP. On Windows, you simply have an EXE that installs V-REP. On a Mac, you first need to unzip the download. The directory that is produced by unzipping the download contains a <code>vrep.app</code> directory that should allow you start V-REP through normal mechanisms, e.g., Finder/Spotlight/Launchpad. On Linux, you will need to extract the compressed tar archive (e.g., using a command like <code>tar xvf V-REP_PRO_EDU_V3_3_2_64_Linux.tar.gz</code>). Then you need to change directories into the V-REP source directory and run the <code>vrep.sh</code> shell script.

Lynch: /* Demonstration V-REP Scenes */

2019-11-23T09:15:17Z

Demonstration V-REP Scenes

← Older revision		Revision as of 04:15, 23 November 2019
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	== Demonstration V-REP Scenes ==		== Demonstration V-REP Scenes ==

	[[Media:V-REP_scenes.zip\|'''DOWNLOAD ALL DEMONSTRATION V-REP SCENES AND INPUT FILES DESCRIBED BELOW.''']]		[[Media:V-REP_scenes-Nov2019.zip\|'''DOWNLOAD ALL DEMONSTRATION V-REP SCENES AND INPUT FILES DESCRIBED BELOW, DATED NOVEMBER 2019.''']]

			([[Media:V-REP_scenes.zip\|This is the August 2018 version of the V-REP scenes.]])

	To run any of the scenes below, the first step will be to [http://www.coppeliarobotics.com/downloads.html download V-REP] for your operating system. You should download the latest non-limited EDUCATIONAL version. Next you will have to install V-REP. On Windows, you simply have an EXE that installs V-REP. On a Mac, you first need to unzip the download. The directory that is produced by unzipping the download contains a <code>vrep.app</code> directory that should allow you start V-REP through normal mechanisms, e.g., Finder/Spotlight/Launchpad. On Linux, you will need to extract the compressed tar archive (e.g., using a command like <code>tar xvf V-REP_PRO_EDU_V3_3_2_64_Linux.tar.gz</code>). Then you need to change directories into the V-REP source directory and run the <code>vrep.sh</code> shell script.		To run any of the scenes below, the first step will be to [http://www.coppeliarobotics.com/downloads.html download V-REP] for your operating system. You should download the latest non-limited EDUCATIONAL version. Next you will have to install V-REP. On Windows, you simply have an EXE that installs V-REP. On a Mac, you first need to unzip the download. The directory that is produced by unzipping the download contains a <code>vrep.app</code> directory that should allow you start V-REP through normal mechanisms, e.g., Finder/Spotlight/Launchpad. On Linux, you will need to extract the compressed tar archive (e.g., using a command like <code>tar xvf V-REP_PRO_EDU_V3_3_2_64_Linux.tar.gz</code>). Then you need to change directories into the V-REP source directory and run the <code>vrep.sh</code> shell script.

Lynch: /* Scene 4: CSV Animation youBot */

2019-11-23T09:11:15Z

Scene 4: CSV Animation youBot

← Older revision		Revision as of 04:11, 23 November 2019
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	[[image:youbot-top-view.png\|right\|x150px]]		[[image:youbot-top-view.png\|right\|x150px]]

	'''(This scene had minor updates in ~~August~~ ~~2018~~.)'''		'''(This scene had minor updates in November 2019, to fix a problem on some Macs in loading csv files.)'''

	This scene animates the motion of the youBot based on a csv file representing the trajectory of the robot. Each row of the csv file represents a timestep and each column of the csv file is a configuration variable through time. The csv file has either 12 or 13 columns. Columns 1-3 represent the mobile base configuration variables, ordered as (phi, x, y), where phi is the angle of the base and (x, y) is the location of its center. Columns 4-8 represent the five arm joint angles, joint 1 through joint 5. Columns 9-12 represent the wheel angles, where wheel 1 is column 9 and wheel 4 is column 12, and the numbering of the wheels is shown in the figure on the right. Column 13 is optional. If it is present, then 0 means the gripper is open and 1 means the gripper is closed. If there is no column 13, then the gripper is open by default. All angles are specified in radians.		This scene animates the motion of the youBot based on a csv file representing the trajectory of the robot. Each row of the csv file represents a timestep and each column of the csv file is a configuration variable through time. The csv file has either 12 or 13 columns. Columns 1-3 represent the mobile base configuration variables, ordered as (phi, x, y), where phi is the angle of the base and (x, y) is the location of its center. Columns 4-8 represent the five arm joint angles, joint 1 through joint 5. Columns 9-12 represent the wheel angles, where wheel 1 is column 9 and wheel 4 is column 12, and the numbering of the wheels is shown in the figure on the right. Column 13 is optional. If it is present, then 0 means the gripper is open and 1 means the gripper is closed. If there is no column 13, then the gripper is open by default. All angles are specified in radians.

Lynch: /* Demonstration V-REP Scenes */

2018-09-01T23:15:27Z

Demonstration V-REP Scenes

← Older revision		Revision as of 18:15, 1 September 2018
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	Most of the scenes feature a simulation of a kinematically-controlled, non-respondable robot. ''Kinematically controlled'' means that all dynamics (inertias, torques, friction, etc.) of the system are neglected. We specify a configuration of the robot and it is instantaneously "teleported" to the new configuration. ''Non-respondable'' means that the links of the robot are not capable of interacting with the world or each other through collisions. In other words, we can put the robot in configurations that result in self-collisions.		Most of the scenes feature a simulation of a kinematically-controlled, non-respondable robot. ''Kinematically controlled'' means that all dynamics (inertias, torques, friction, etc.) of the system are neglected. We specify a configuration of the robot and it is instantaneously "teleported" to the new configuration. ''Non-respondable'' means that the links of the robot are not capable of interacting with the world or each other through collisions. In other words, we can put the robot in configurations that result in self-collisions.

	The "interactive" scenes allow you to visualize the robot as you change its configuration using sliders. The "CSV" scenes allow animations of a robot based on a trajectory stored in a comma-separated values file, where each line corresponds to a timestep and consists of comma-separated numbers specifying the robot's configuration at that timestep. There are no joint limits in the "CSV" scenes. ~~[[Writing_a_CSV_File\|'''This page''']] has information on writing csv files in Python, MATLAB, and Mathematica.~~		The "interactive" scenes allow you to visualize the robot as you change its configuration using sliders. The "CSV" scenes allow animations of a robot based on a trajectory stored in a comma-separated values file, where each line corresponds to a timestep and consists of comma-separated numbers specifying the robot's configuration at that timestep. There are no joint limits in the "CSV" scenes.

			[[Writing_a_CSV_File\|'''This page has information on writing csv files in Python, MATLAB, and Mathematica.''']]

	The CSV mobile manipulation scene is a partly dynamically-controlled simulation of a respondable [http://www.youbot-store.com/ youBot] from [https://www.kuka.com/en-us KUKA].		The CSV mobile manipulation scene is a partly dynamically-controlled simulation of a respondable [http://www.youbot-store.com/ youBot] from [https://www.kuka.com/en-us KUKA].

Lynch: /* Scene 1: Interactive UR5 */

2018-09-01T22:51:15Z

Scene 1: Interactive UR5

← Older revision		Revision as of 17:51, 1 September 2018
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	* Scene1_UR5.ttt: the V-REP scene file.		* Scene1_UR5.ttt: the V-REP scene file.

	<br clear=all>		<br clear=all>

Lynch: /* Demonstration V-REP Scenes */

2018-09-01T22:50:25Z

Demonstration V-REP Scenes

Show changes

Lynch: /* Demonstration V-REP Scenes */

2018-09-01T13:24:50Z

Demonstration V-REP Scenes

← Older revision		Revision as of 08:24, 1 September 2018
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	: '''Important note regarding csv file format:''' The example csv files included below for use with the csv scenes assume that periods, not commas, are used as decimal points. So pi is written as 3.14, not as 3,14. If you are using Linux and your region settings are set to a region that uses commas as the decimal separator, one solution, suggested by a Coursera student, is to invoke V-REP using US English settings:		: '''Important note regarding csv file format:''' The example csv files included below for use with the csv scenes assume that periods, not commas, are used as decimal points. So pi is written as 3.14, not as 3,14. If you are using Linux and your region settings are set to a region that uses commas as the decimal separator, one solution, suggested by a Coursera student, is to invoke V-REP using US English settings:
	LC_NUMERIC=en_US.UTF-8 ./vrep.sh		LC_NUMERIC=en_US.UTF-8 ./vrep.sh
	: Another option, also suggested by a Coursera student, is to open the "System Settings" -> "Language support" -> "Regional Formats" tab. After changing the region to "English (United States)", log out and back in for the change to take effect.		: Another option, also suggested by a Coursera student, is to open the Linux "System Settings" -> "Language support" -> "Regional Formats" tab. After changing the region to "English (United States)", log out and back in for the change to take effect.

	In each scene, there is a single Lua script called a [http://www.coppeliarobotics.com/helpFiles/en/childScripts.htm non-threaded child script]. When the scene is first run, there is a function that is called that sets up the GUI and creates variables that are going to be needed later on in the simulation. Then during every step of the simulation the [http://www.coppeliarobotics.com/helpFiles/en/mainScript.htm main script], which is part of every V-REP scene, runs an "actuation" function from the child script. This actuation function is responsible for processing all of the changes to the GUI since the last time it was called (buttons clicked, label updates, etc.), and for sending joint commands to the simulated robot. Technically, there is also a "sensing" function in the child script that gets called by the main script, but in each of these scenes, the sensing function is empty. The GUIs are all built with V-REP's [http://www.coppeliarobotics.com/helpFiles/en/customUIPlugin.htm Qt-based custom UI framework].		In each scene, there is a single Lua script called a [http://www.coppeliarobotics.com/helpFiles/en/childScripts.htm non-threaded child script]. When the scene is first run, there is a function that is called that sets up the GUI and creates variables that are going to be needed later on in the simulation. Then during every step of the simulation the [http://www.coppeliarobotics.com/helpFiles/en/mainScript.htm main script], which is part of every V-REP scene, runs an "actuation" function from the child script. This actuation function is responsible for processing all of the changes to the GUI since the last time it was called (buttons clicked, label updates, etc.), and for sending joint commands to the simulated robot. Technically, there is also a "sensing" function in the child script that gets called by the main script, but in each of these scenes, the sensing function is empty. The GUIs are all built with V-REP's [http://www.coppeliarobotics.com/helpFiles/en/customUIPlugin.htm Qt-based custom UI framework].

Lynch: /* Demonstration V-REP Scenes */

2018-09-01T13:23:47Z

Demonstration V-REP Scenes

← Older revision		Revision as of 08:23, 1 September 2018
Line 21:		Line 21:
	== Demonstration V-REP Scenes ==		== Demonstration V-REP Scenes ==

	[[Media:V-REP_scenes.zip\|'''DOWNLOAD ALL DEMONSTRATION V-REP SCENES DESCRIBED BELOW.''']]		[[Media:V-REP_scenes.zip\|'''DOWNLOAD ALL DEMONSTRATION V-REP SCENES AND INPUT FILES DESCRIBED BELOW.''']]

	To run any of the scenes below, the first step will be to [http://www.coppeliarobotics.com/downloads.html download V-REP] for your operating system. You should download the latest non-limited EDUCATIONAL version. Next you will have to install V-REP. On Windows, you simply have an EXE that installs V-REP. On a Mac, you first need to unzip the download. The directory that is produced by unzipping the download contains a <code>vrep.app</code> directory that should allow you start V-REP through normal mechanisms, e.g., Finder/Spotlight/Launchpad. On Linux, you will need to extract the compressed tar archive (e.g., using a command like <code>tar xvf V-REP_PRO_EDU_V3_3_2_64_Linux.tar.gz</code>). Then you need to change directories into the V-REP source directory and run the <code>vrep.sh</code> shell script.		To run any of the scenes below, the first step will be to [http://www.coppeliarobotics.com/downloads.html download V-REP] for your operating system. You should download the latest non-limited EDUCATIONAL version. Next you will have to install V-REP. On Windows, you simply have an EXE that installs V-REP. On a Mac, you first need to unzip the download. The directory that is produced by unzipping the download contains a <code>vrep.app</code> directory that should allow you start V-REP through normal mechanisms, e.g., Finder/Spotlight/Launchpad. On Linux, you will need to extract the compressed tar archive (e.g., using a command like <code>tar xvf V-REP_PRO_EDU_V3_3_2_64_Linux.tar.gz</code>). Then you need to change directories into the V-REP source directory and run the <code>vrep.sh</code> shell script.