samq
Hi all!
Just Joined the community on 10DEC2016Sa and purchased a JD Humanoid Kit. I'm experienced in software design and programming.
Has anyone here tried to simulate the JD Humanoid(JDH) in the V-REP simulator?
The reasons for simulating JDH are to experiment with various algorithms without damaging the real robot and also validate and verify modifications on size and capabilities. Additionally, it would be great learning to eliminate the discrepancies (called "simulation gap") between actions of the real robot in the real world versus actions of the simulated robot in the simulated world by applying noise to the simulation to calibrate/synchronize the robots.
I'd like to set up the simulation, so I'm ensuring that it hasn't already been done.
I haven't learned ARC yet, but it appears not to have simulation capability.
Any suggestions?
samq
DJ,
Earlier, you mentioned the idea of a plugin for V-REP so ARC could accept commands to send to the controller so JD Humanoid could execute movements.
All that is great using the Windows OS, but I was wondering if the controller is permanently tied to EZ-Buiilder. It would be fantastic if the controller could work with any computer platform/OS and use ARC if on Windows OS.
For starters, I'd like to send ROS-based commands to the controller (ROS to V-REP and ROS to controller) but then Linux is the required platform/OS. Simulation code could then also work directly on the robot with no code changes. Creating the ability to use ROS with EZ-Robots would certainly open up a much larger market for you since so many ROS packages could work with EZ-Robots to extend educational possibilties for everyone!
Alternatively, ARC could be made multi-platform if it's necessary to keep the ARC + Controller model.
So what's you take on all this?
You can send commands from any os, including ROS. Under the software tab of this website are available sdk's and open source uwp. If you view the datasheet of the ezb, there's also the command protocol sheet.
Here's the command protocol sheet: https://synthiam.com/Tutorials/Lesson/18?courseId=5
You can learn more about your ezb on the learn section: https://synthiam.com/Tutorials/Course/5
The software link at the top of this website will provide many methods to use ezb from different os's