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How to: move a simple box in the air

asked 2017-04-04 03:11:35 -0600

MSI gravatar image

Hello all,

I would like to have a simple box moving in the air with a precise position/speed.

What I did so far is to create an SDF model with 3 prismatic joints fixed to the root. Then the joints are controlled by PID controllers (YARP's controlBoard). The PID-tuning was a bit complicated and it results that the speed and the position are not accurate enough for my purpose.

How would you get a "hard defined position / speed" controller working?


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Is the box going to collide with other objects in simulation?

chapulina gravatar imagechapulina ( 2017-04-04 14:28:32 -0600 )edit

not at all, it will be a screen that displays images to the actual robot

MSI gravatar imageMSI ( 2017-04-05 02:18:33 -0600 )edit

In that case, the animation suggestion below is convenient, but it might be hard to specify a very precise trajectory. If you need precision, you could make the model static and call SetWorldPose on it.

chapulina gravatar imagechapulina ( 2017-04-05 11:30:44 -0600 )edit

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answered 2017-04-04 14:12:52 -0600

nkoenig gravatar image

You could animate the box

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thank you for your answer, I'll check that out!

MSI gravatar imageMSI ( 2017-04-05 02:20:02 -0600 )edit
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Asked: 2017-04-04 03:11:35 -0600

Seen: 268 times

Last updated: Apr 04 '17