Detected dynamically enabled

[CroCr]

I need to work with the Husky mobile robot, which is not included in CoppeliaSim. While searching, I discovered the model in the paper "How to Pick a Mobile Robot Simulator." Since I do not require ROS, I have eliminated all its functions. The model functions fine in Bullet and Newton, but the wheels slip in ODE (i.e., I would not be concerned about this engine). Nonetheless, I continue to receive these warnings.

Code: Select all

[CoppeliaSim:warning] Detected dynamically enabled, non-convex shapes. Those might drastically slow down simulation, and introduce unstable behaviour.
[CoppeliaSim:warning] Detected a static, respondable shape, built on top of a non-static tree. This might lead to strange and unrealistic behaviour.

Some parts of the Husky model appear not dynamically enabled (i.e., I'm uncertain if this has been arranged on purpose). When I enable them, the warnings disappear, but the model is no longer stable. Should I care about these warnings? I have attached the UR5, which appears to be working despite these warnings.

[coppelia]

Hello,

please post the related scene file, and we can have a look at it. Usually it is not wise to ignore the warnings...

Cheers

[CroCr]

Hello,

please post the related scene file, and we can have a look at it. Usually it is not wise to ignore the warnings...

Cheers

The scene can be found here https://github.com/offroad-robotics/rob ... comparison

my lua script is

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function sysCall_init()
    sim = require('sim')
    
    -- Constants
    wheelRadius=0.165 --in meters
    treadConstant=0.75

    -- Sim Object Handles
    robotHandle=sim.getObjectHandle(sim.handle_self)
    frontLeftMotor =sim.getObjectHandle("front_left_wheel") -- Handle of the front left motor
    frontRightMotor=sim.getObjectHandle("front_right_wheel") -- Handle of the front right motor
    rearLeftMotor  =sim.getObjectHandle("rear_left_wheel") -- Handle of the rear left motor
    rearRightMotor =sim.getObjectHandle("rear_right_wheel") -- Handle of the rear right motor
             husky =sim.getObjectHandle("Husky")

end

function getLeftWheelSpeed(x, w)
    return (x - treadConstant*w)/(2*wheelRadius)
end
function getRightWheelSpeed(x, w)
    return (x + treadConstant*w)/(2*wheelRadius)
end

function setVel(msg)
    local leftSpeed  = getLeftWheelSpeed(msg[1], msg[2])
    local rightSpeed = getRightWheelSpeed(msg[1], msg[2])
    
    sim.setJointTargetVelocity(frontLeftMotor,leftSpeed)
    sim.setJointTargetVelocity(frontRightMotor,rightSpeed)
    
    sim.setJointTargetVelocity(rearLeftMotor,leftSpeed)
    sim.setJointTargetVelocity(rearRightMotor,rightSpeed)
end
function sysCall_actuation()
    local data = {0.2,0}
    setVel(data)
end

function sysCall_cleanup()
end

[coppelia]

So when running the simulation, click the Visualize and verify dynamic content toolbar button: you will see the objects being dynamically simulated color-coded: the top_plate_link_respondable shape appears white (and not red): this means that the shape is static, and that's the culprit. Simply make sure that the check box Body is dynamic is enabled with that shape.

Beware that the model is very old and dirty.

Cheers

[CroCr]

So when running the simulation, click the Visualize and verify dynamic content toolbar button: you will see the objects being dynamically simulated color-coded: the top_plate_link_respondable shape appears white (and not red): this means that the shape is static, and that's the culprit. Simply make sure that the check box Body is dynamic is enabled with that shape.

Beware that the model is very old and dirty.

Cheers

I don't know where the "Visualize" option is. However, I did enable the dynamic option for the static objects. When I did this, the model became unstable. I'm curious if you have any model that resembles the Husky mobile robot capable of hosting the UR5 arm.

Furthermore, Clearpath Robotics supplies URDF files for their Husky robot. I am wondering about the ease or difficulty of importing the model into CoppeliaSim.

[coppelia]

Did you try to import the URDF yourself? [Menu bar > Modules > Importers > URDF importer...]

Cheers