darwinlau / caspr Goto Github PK

Hi, I am currently trying to perform FK/IK on a 3DoF model. Similar to the KNTU planar model available in CASPR. The only difference is that my model has 2 rigid links attached to the cable driven link if the KNTU robot. I was wondering if it was possible to simulate the motor-based actuation of these links without attaching any cables in CASPR. I've attached a figure to make things simpler to understand.

While loading a new robot, the GUI looks for the "templates" folder inside "/CASPR/data/" location. It is currently placed in the "/CASPR/data/model_config/" location.

Hello. I am a student and studying cable robots.
Thanks for the great program. This is very helpful for me.
Everything is fine but I could not get workspace because of some error messages were popped up.

Following is a error message when I run 'generate' in workspace simulator.
(* Model: 2 DoF VSD, * Workspace Condition: Wrench feasible, * Workspace Type: point)

I think I installed properly and other analyzing simulators are working well.
But, did I miss something?

Error in workspace_GUI>generate_button_Callback (line 299)
wsim.plotGraph();

Error in gui_mainfcn (line 95)
feval(varargin{:});

Error in workspace_GUI (line 51)
gui_mainfcn(gui_State, varargin{:});

Error in
matlab.graphics.internal.figfile.FigFile/read>@(hObject,eventdata)workspace_GUI('generate_button_Callback',hObject,eventdata,guidata(hObject))
Error while evaluating UIControl Callback.

I have read the paper "CASPR-ROS: A Generalised Cable RobotSoftware in ROS for Hardware".
I haven't found any github material about it. Is this software available or is it going to be released in the near future?
Thank you in advance!

Dear Sirs,
I have lack of understanding how this parameter is used, and unfortunatelly there is no explanation on it in the documentation. The structure is as follows:
...

<base_rotating_pulley>
<fixed_location>1.659 -2.850 3.221</fixed_location>
<pulley_radius>0.045</pulley_radius>
<cable_entry_vector>0 0 1</cable_entry_vector>
</base_rotating_pulley>
...
What does correspond to fixed_location and cable_entry_vector? Does CASPR have an implementation for caster-like rotating pulleys? (https://en.wikipedia.org/wiki/Caster)

In CASPRRVizInterface.m the linked repo does not exist, also how could I run my simulation in Rviz? Any hint would be appreciated :)

If I want to create a custom cable robot model where the attachment point of the cables are movable (actuated) would it be possible to do so in the simulator?
What I'm asking is if it would be possible to write the IK solver from scratch to add additional actuators.

Hello,
I trying to plot a movie but this function is failed because it's not recognize the modelObj.setModelMode
Are there something missing?

This problem always appears when I press to rviz, I have set up the environment according to your previous requirements

hello guys
i have a few problems with dynamics and kinematics simulator.
when i run dynamics simulator, simulating does not complete and shows this error:
''Function 'subsindex' is not defined for values of class 'matlab.graphics.axis.Axes'.''
either for forward kinematics the problem is:
''Error using ForwardKinematicsSimulator/plotCableLengthError Too many input arguments.''
i hope you guys know the answer,i will be appreciated that send your answer to my gmail:
[email protected]

Hello Prof.Lau ,
I am a student and studying the CASPR . When installing the CASPR, I have a few problems. The WorkSpace Simulator does not work. I also don't know what to do when reading the sentence'To allow for CASPR to access the compiled qhull code, move the compiled version of the code to the subdirectory dependencies '
Thank you for your consideration.

Hello Professor Lau and team,

I am going through all the tutorials included under scripts/tutorial, however, there was an error when I tried to load T7_control.mlx. I have no problem accessing the others (T1-6 & 8).

Any help provided would be much appreciated!

Pin-Hao