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Coppeliasim
CoppeliaSim高度可定制的模擬器,可以自定義模擬的每個方面。此外對於機器人學習者可以大大降低學習成本。 機器人設計工具可以透過v-rep裡的模擬平台,加入相關引擎、物理碰撞等旋轉功能。 v-rep是一款靈活、可拓展的通用機器人模擬器,支持六種不同的編程或編碼方法,每種方法都具有相對於其他方法的特殊優點(顯然還有缺點),但所有六種方法都是相互兼容的(即可以同時使用,甚至可以協同使用)。 這可以通過精心設計的應用程序編程接口(API)來實現。
Scene objects Scene objects 場景物件
The main elements in CoppeliaSim that are used for building a simulation scene are scene objects (objects in short).
CoppeliaSim中用於構建模擬場景的主要元素是場景物件(簡而言之) Objects are visible in the scene hierarchy and in the scene view. 物件在場景層次結構和場景視圖中可見。
In the scene view, objects have a three dimensional representation as illustrated in following figure:
在物件視圖中,物件具有三維表示,如下圖所示: Following list gives a brief functional description of each object type:
以下列表簡要介紹了每種物件類型的功能:
●Shapes: a shape is a rigid mesh that is composed of triangular faces. 形狀:形狀是由三角形面組成的剛性網格。
●Joints: a joint object is a joint or actuator. Four types are supported: revolute joints, prismatic joints, screws and spherical joints.
關節:關節物件是關節或執行器。四種類型支持架:旋轉接頭,棱柱接頭,螺釘和球形接頭 。
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