Skip to content

Latest commit

 

History

History
45 lines (33 loc) · 1.01 KB

README.md

File metadata and controls

45 lines (33 loc) · 1.01 KB

V-REP

V-REP version for RhobanProject (education)

Directories:

  • Addon: Altered files of V-REP for custom remote API commands
  • Models: Robots models for V-REP
  • Scenes: Simulations set up
  • Client: Simple interface for communicating with V-REP running simulation
  • Example: Basic example moving robot and printing all sensors values
  • Vrep: Containts V-REP 3.1.0

Installation:

  • Copy V-REP 3.1.0 directory to Vrep/

Compiling:

  • mkdir Client/build/ ; cd Client/build/
  • cmake .. #Build V-REP remote API custom commands
  • make #Build Client into library
  • mkdir Example/build ; cd Example/build/
  • cmake ..
  • make #Build example against Client library

Run:

  • cd Example/build/
  • ./vrep
  • ./Client 127.0.0.1 4242

Models:

  • Rendered model is different than physical used dynamic model
  • Prefert simple shapes (or convex) for approximating dynamic model
  • Joints must be revolute, position not cyclic, mode force/torque, position control enabled, force/torque regulated