calculates and outputs joint positions, and controls the switch of the. The reason is that this type of collision detection is usually not wanted by the user, because a very accurate design of the bounding objects of the solids would be required. The Servo node was an old node that was replaced by the Slider and HingeJoint. Industrial robots use different HingeJoint nodes for their previous rotations on different axes, that is, connection nodes with only one degree of freedom in. are linked by a passive spherical hinge pair, and its rotation angles around. For consecutive solids, e.g., two solids attached to each other with a joint, no collision detection is performed, even if the self collision is enabled. The insect-like model is build of a plate to which twelve legs are connected via hinge joints. Note that only collisions between non-consecutive solids will be detected. The muscle-joint model consists of an upper and a lower link which are connected via a joint and twelve muscle bers distributed in equal distances around the joint. You are probably looking for the 'selfCollision' field of the Robot device (which is False by default) if you set this field to True the robot will be able to self-collide.īut be careful as stated in the doc this has an impact on the simulation speed:Įnabling self collision is, however, likely to decrease the simulation speed, as more collisions will be generated during the simulationĪnd will not handle collision between directly consecutive solids:
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