I’m starting to work with python and a Pypot in the VREP,I want to build a customize machine that made by myself not PoppyTorso or PoppyHumanoid because it’s so hard to learn.
I want to build a Four-bar linkage can simulation in Vrep and real .
How shoud I work with this or have any example to learn?
Do you want to simulate you 3D printer with vrep and pypot ?
Pypot can control all the motors, but actually only the IO for dynamixel are fully functional. If you want to control other motors you need to write you own controller. See the dynamixel folder of pypot to understand how it works.
In vrep, no problem to control joint for every models. What you need is just to write a configuration file to describe your robot. Follow the ergo model ergo.json and write your own robot.json
Replace the ergo model with your .json and your .ttt and it should work in vrep. You need to have the same name for motors in vrep and in json.
Your problem seems to be a pure Vrep problem. Before doing anything with pypot, your vrep model have to move correctly when you change the angles of joints in the join property dialog box.
I don’t understand what is dummy() ? Why did you delete a joint (revolute_joint2) in your second vrep model ?
Can you give your vrep model so I can have a look on it ?
Your dummy link should not be in your json configuration file because if I understand correctly these are a sort of passive joint just following the bar’s position.
And when I’m thinking of this… maybe it will raise issues with this kind of joint. Post your vrep scene somewhere so I will be able to make some tests.
I wnat to use the from_vrep function to start vrep simuration and get the motor force and position. but that have an error like below . what shoud i need to get.
should i give up the from_vrep and use vrep_io to start the smuration ?
Could not connect to V-REP server on 127.0.0.1:19997. This could also means that you still have a previously opened connection running! (try pypot.vrep.close_all_connections())
You have to make the diffence between the joints you want to set the position and the joints you want to adapt their position function of the others (using dummy or dependant mode should work but I never tried)