bjcaasenbrood / sorotokicode Goto Github PK

Hello author, your research is very interesting. I am currently researching cable-driven robots. Does this toolbox support it?

The latest version of Sorotoki allows users to update their packages using the command:

sorotoki update

This will automatically check if the current installed packages are out-dated w.r.t. the latest commit on the Sorotoki package repos (e.g., SorotokiModel, SorotokiSdf, SorotokiFem). Unfortunately, we cannot yet update @sorotoki itself nor the /examples/ folder. This is something we aim to improve in the future!

When I test the program of example 1 (Fitting a hyperelastic material), I got different stress-strain curves, which seems to be caused by svm not recording the correct data, how can this be solved

?

Dear Sir,
I curious to learn Soft robotics and its mechanisms, it great herd that Sorokati is one of the best platform.
I am getting installation problem, where can i get these, do i need to add-on in existing Matlab.
Can you briefly explain to installation.

Hi @BJCaasenbrood, thank you for your excellent work!

There are several errors when I tested the realtime_example.m, and I tried to fix them all. Here are the details:

wrong use of Control
Cannot create a communication link with the remote server.
Please check the input arguments(ADDRESS and PORT) and
make sure the server is running.
Additional Information: Unable to connect because the target computer actively refused。
[system:10061]
realtime_example (第 9 行)
brd = Control(usr,ip,pwd,'autoConnect',false,...

Hi @BJCaasenbrood , I am looking at the controller code for dellasantina_arm.m and try to understand them.
As cited in the paper [118]

In dellasantina_arm.m, under function tau = Control(shp, Xd)

I am expecting

eta = lam*(J*Mi*C - dJ);

instead of

eta = lam*(J*Mi*C);

following both the paper [118]

and your paper as well

May I know is there any specific reason for the code to ignore dJ?

I realized the result for the example would not be similar if dJ is included, unless additional change to Dc
such as Dc = 0.7 * Kc;

Hi Brandon,

Thanks for this cool repo! I am working on implementing my own SDF and I'd like to export it as an STL. I saw that this is a feature on this page (second example). When I try to export an stl using the most recent version of Sorotoki, I am not able to export an .stl. I get an error: Unrecognized method, property, or field 'export' for class 'Sdf'. I tried searching the whole code base for export and didn't find anything. Is it possible that this functionality got accidentally removed? And if so, might it be possible to add it back?

I've also noticed something strange with sdf.render versus sdf.show. I have implemented a basic cube function: S2 = sCube([0.1, 0.1, 0.1], [9.8, 1.8, 1.8]); When I visualize the cube using .show() I get the following image, which is what I would expect:

However, when I visualize the cube using .render('Quality',50) I get the following unexpected image:

Do you have any suggestions for what might be causing the render and show functions to visualize this cube differently?

Thanks for your help!

Hi @BJCaasenbrood, thank you for your excellent work!

There are several errors when I tested the provided examples, and I tried to fix them all. Here are the details:

Error 0:
Unrecognized field name "V"

Influenced examples by Error 0:
fem_eigen_comp

Fix Error 0:
Line 18 of examples\fem\fem_eigen_comp.m: fem.solver.sol.x = fem.solver.pod.V(:,ii) * 250;
should be: fem.solver.sol.x = fem.solver.sol.pod.V(:,ii) * 250;

Error 1：
Incorrect size for expression 'Dvec': expected [6x6x:?x:?] but found [5x1].
Error in computeLagrangianGaussFast_mex

Influenced examples by Error 1:
dellasantina_arm
softhand
backbone_test
shapes_octoarm
shapes_reconstruct
shapes_threebellow_robotmanipulator

Fix Error 1:
I found it in computeLagrangianGaussFast.h that the type of "Dvec" is declared as "const emxArray_real_T *", but the "generateMexCLGF.m" uses "coder.typeof(10,[5,1])" for "Dvec", which means it's correct. So I ran "generateMexCLGF.m" again, got the correct mex-file, and fixed this problem finally.

Error 2:
Error using *
Incorrect dimensions for matrix multiplication. Check that the number of columns in the first matrix matches the number of rows in the second matrix. To operate on each element of the matrix individually, use TIMES (.*) for elementwise multiplication.

Influenced examples by Error 2:
suzumori_gripper
jacobian_control_shapes
shapes_backbone_IK_test

Fix Error 2:
Line 76 of tubeplot.m: Fx = (1+1/8*sin(2*X).^2)*cos(X)
should be: Fx = (1+1/8*sin(2*X).^2).*cos(X)

Warning 1 (when running dellasatina_arm):
Warning: Name is nonexistent or not a directory: PATH\mpi-packages\sorotokicode+preset+shapes\assets

Fix Warning 1:
Line 49 of katzschmann.m: functionPath = fullfile(currentDir,'assets');
should be: functionPath = fullfile(fileparts(currentDir),'assets');

Hope them can be merged into next version. Thank you again for your great work!

Hi Brandon,

Great work! Can you maybe add the project to Zenodo or 4TU research data, so that we can cite it using a DOI and long-term access will be guaranteed?

Also if you add a CITATION.cff file a cite this repository as button will pop up in github

Your work is great, I am a beginner and learning from you. When I unzip the file under windows, the decompression software suggests that there are 4 duplicate files, "hex2rgb.m, rgb2hex.m, admap.m, isomse3.r" I chose to overwrite the operation, I wonder if this will have a bad effect on the use of the program? The content of the screenshot is the path of the file