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During the labs we will be using V-REP simulator with a Python remote API and a real hexapod walking robot. This page provides resources which are common for all the labs.
hexapod_vrep_v2.0
Update: Updated version of hexapod_vrep for dealing with noisy position, orientation and laser scanner data hexapod_vrep_v3.0
hexapod_real_v1.0 The HAL allows to use standardized function calls for interfacing both the simulated and the real robot regardless the particular implementation of the hardware layer. The particular interface is selected by choosing one of two possible includes in the main python script. For interfacing the simulated robot in the V-REP the main python should include in the header:
import hexapod_vrep.robot as rob
import hexapod_real.robot as rob
Hexapod model Hexapod servos numbering:
scenes_pack_v1.0 Scenes are the simulation main playground. Obstacles, robots and other objects can be placed into the scene and controlled by the simulation. Besides, terrain maps can be imported from image files directly to the scene.
Obstacles in the scene can be made by adding a primitive shape into the scene by right clicking into the scene and selecting add » Primitive shape. Then we set up the dimensions of the shape by filling in the dialog.
primitive shape
add » Primitive shape
To make the obstacle static (i.e. not influenced by gravity or collisions) but still exerting some collision responses on non-static respondable shapes it is necessary to disable Body is dynamic option in the shape dynamics properties accessed from the Hierarchy manager and Show dynamic properties dialog as it is visualized in the following picture.
Body is dynamic
Hierarchy manager
Show dynamic properties
It is also necessary to make the obstacle Collidable, Measurable, Renderable and Detectable in the Common properties of the same dialog.
Collidable, Measurable, Renderable and Detectable
Common
The maze creation is based on importing the height map into the V-REP simulator. As a source, gray scale .jpg or .png image is used. The maze can be imported into V-REP as follows:
.jpg
.png
File>Import>Heightfield
Z-scaling
Heightfield
ResizableFloor
demo_codes_v1.0 V-REP demos intends to show the basics of controlling the hexapod model in the V-REP simulator.
l
r
main
hexapod_vrep
remoteApi