Dynamic simulation #5
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Hi Dr.Caron Thank you for your response. In your paper you have talked about the advantages of Choreonoid and yet you have used rviz and VREP in this package. I wanted to know your idea about these environments. We need to have a simulation environment with GRF/M feedback and I wanted to know your idea about the best one. Also, if your answer is Choreonoid, I would like to know if we need to make any adjustments in the installation process. So we would have our robot in choreonoid and connect mc-rtc package to it. Thank You |
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There are couple of points to note here:
As discussed in section VI.B of this paper, Choreonoid with the AIST physics engine is the best simulator in terms of real-timeness and plausibility of contact forces. For details on the installation process, check out the related mc interfaces:
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PS: to illustrate what I mean by "plausibility" of contact forces, here is a sample run of the lipm_walking_controller in V-REP with Newton as physics engine: The robot runs the |
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Hi Dr. Caron,
I have studied your paper which is corresponding to the LIPM walking controller package. I want to ask you about the mc-rtc package which is linked with RViz; I just wanted to make sure if it is a dynamic simulation environment?
If so, why did you use Choreonoid?
How did you see these two environments, and how you think these two are different / in which aspects?
Thank you
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