QUICK User manual - K
Contents
1. V REP QUICK User Manual TN O version 1 4 MAY 2012 Documentation Author Julien Tharin K Team S A Z I Plans Praz 1337 Vallorbe Switzerland E Url www k team com Documentation version Version Author Description 03 06 2010 J Tharin First draft 14 06 2010 J Tharin Updated 16 12 2010 J Tharin Updated floating license dongle added Khepera 3 Lua parser 05 07 2011 J Tharin Some corrections 16 05 2012 J Tharin Updated license email address versions for Apple and Linux Trademark Acknowledgements IBM PC International Business Machines Corp Macintosh Apple Corp SUN Sparc Station SUN Microsystems Corp LabVIEW National Instruments Corp Matlab MathWorks Corp Khepera K Team and LAMI Logitech Logitech Int SA V REP Dr Marc Andreas Freese LEGAL NOTICE e The contents of this manual are subject to change without notice e All efforts have been made to ensure the accuracy of the content of this manual However should any error be detected please inform K Team e The above notwithstanding K Team can assume no responsibility for any error in this manual TABLE OF CONTENTS KA q q A A A A A A Mm MMMM MMMM M M MMMM MM MMMM MM MM M q ils INTRODUCTION coordine i 1 INTRODUCTION 1 1 V REP Thank you for buying the V REP software A powerful 3D robot simulator which features several versatile calculation modules inverse kinematics Physics dynamics2. collision detections minimum distance calculations path planning etc a distributed control architecture unlimited number of control scripts threaded or non threaded and several extension mechanisms plug ins custom client application etc V REP is the perfect tool for fast prototyping and verification remote monitoring fast algorithm development robotics related education and simulation of factory automation systems A V REP plug in was specifically developed to allow an intuitive easy and realistic Khepera robot simulation This document introduces the instructions for the installation and the first steps in V REP For more information on how to use V REP please refer to the help file that ships with V REP 1 2 Specifications e Full collision detection module allowing fast interference checking between any e Minimum distance calculation module allowing fast minimum distance calculation between any geometries convex concave open closed or collection of geometries V REP Quick User Manual rev 1 4 1 e Script driven fully customizable behavior also at low level e Unlimited number of scripts operating at the same time non threaded or threaded threaded scripts operate flawlessly also on single core CPUs e Fully integrated edit mode for robot mechanism scene edition triangle edit mode vertex edit mode edge edit mode custom user interface edit mode path trajectory edit
3. gt 0 75 else velLeft maxVel 0 5 left sensor intensity lt 0 75 end if simExtK3_getLineSensor 1 gt 0 75 then velRight maxVel right sensor intensity gt 0 75 else velRight maxVel 0 5 right sensor intensity lt 0 75 end simExtK3_setVelocity velLeft velRight Set desired left and right motor velocities if simExtK3_getGripperProxSensor 0 lt 0 015 or simExtK3_getGripperProxSensor 1 lt 0 015 then Something was detected between the fingers simExtK3_setGripperGap 0 close the fingers simExtK3_setArmPosition 900 move the arm up Fig 3 2 V REP Khepera III main loop Implemented LUA commands for the Khepera 3 The following LUA script commands and their parameters for the Khepera 3 robot and its gripper are described below distance simExtK3_getInfrared index return the distance measure in m of the infrared sensor index 0 8 distance_inMeters simExtK3_getUltrasonic index return the distance measure in m of the ultrasonic sensor index 0 4 intensity simExtK3_getLineSensor index return the intensity 0 to 1 of the ground infrared sensor index 0 or 1 distance simExtK3_getGripperProxSensor index return the distance in m of the gripper sensor index 0 or 1 V REP Quick User Manual rev 1 4 simExtK3 setVelocity velocity Left velocity Right set the velocities of the left and right wheels in rad s simExtK3_setArmPosition position set position of the gripper s arm range 300
4. 2 V REP Quick User Manual rev 1 4 4 Press ESCAPE to terminate program 2010 6 3 11 21 5 gt ERREI EEE HEE TEE EEE EEE Logging started V REP floating license server built date is May 8 2010 V REP floating license server version 1 1 PC hardware ID XXXX XXXX XXXX XXXX XXXX XXXX dongle Reading settings Using port 20249 Reading licenses invalid input 2 invalid input 3 invalid input 4 invalid input 5 invalid input 6 invalid input ERROR no valid licenses found Leaving here press a key Fig 2 2 floating license server 3 When you received the license keys put them in a text file named floatingLicenses txt one by line in the same directory of the license server Edit also the floatingLicenseSettings txt file where the port on which the server listens to can be set All text output is automatically saved to a log file floatingLicenseServerLog txt Make sure that Windows allows the server to listen to that port Firewall Then launch the server 4 On each client PCs that should run V REP install V REP V REP Vx y z Setup exe file then edit the V REP FULLAsystemlusrset txt file Make sure following values are added and correct a floatingLicenseEnabled true b floatingLicenseServer xxx xxx xxx xxx specify the IP address of the floating license server PC c floatingLicensePort 20249 make sure the port number is same as the one spe
5. down 900 up simExtK3_setGripperGap gap set aperture position of the gripper range 0 closed 170 open 3 3 2 Applying Lua script on the real Khepera 3 robot With the Lua parser compiled for the robot you will be able to run on the Khepera 3 robot a script developed on V REP You will need the following hardware and software Hardware a Khepera 3 robot mounted with its Korebot II Linux board optionally the Khepera 3 gripper KoreConnect converter and serial cable aPC with serial connection or with an USB to serial converter Software aterminal Hyperterminal or TeraTerm for communicating with the robot through the serial port file kh3luaparser the Lua parser for Khepera 3 available from source files of the parser http ftp k team com KheperallV V REP lua sources kh3LuaParser VERSION DATE tar bz2 where EEE A pu Tee ee Sr pe e Be Follow the instructions below for the Installation and Usage Installation connect the Khepera 3 robot and open the terminal see Khepera 3 user manual transfer the file libstdc 6 4 1 2 rl0 armvste ipk to the robot and install it with the command ipkg install libstdc 6_4 1 2 r10_armv5te ipk transfer the file liblua 5 1 so and move it to the directory usr lib my liblua 5 1 so usr lib V REP Quick User Manual rev 1 4 transfer the file kh3luaparser to the robot change to executable mode the parser with the command chmod x kh3luapars
6. integrated scenes You can load created scenes distributed with the software In the top Menu under File Open Scene choose the file khepera3 ttt in the dialog box When you press the Start Resume green button the simulation will start Fig 3 1 Script access Simulation start V REP EDU ATIONAL LICENSE khepera3 rendering 92 ms SIMULATION RUNNING File Edit Add Simulation Tools Modules Instances Help r s pe tes EENE E tel BR robot La sd POTE go 0 01 15 50 XYZ CameraProxy DefaultFloor DefaultCamera Cylinder e miranda re a pecan E D Rectangled Cylinder3 y Cylinder GE al AMAR TANAR Encoders 27811 25586 Velocities 60 0 36 1 02 _ Color sensors ru isa Arm pos Gripper gap 899 29 To i E e Fig 3 1 V REP with Khepera III and gripper V REP Quick User Manual rev 1 4 6 3 3 Programming the Khepera Ill robot 3 3 1 On V REP simulator The programming language used in V REP is LUA It is a script language You can manual in the software for specific commands to the simulator You can start modifying the script associated with the Khepera III simulation fig 3 1 Basically it follows the black line and grasps an object fig 3 2 maxVel 2 math pi while simGetSimulationState sim simulation advancing abouttostop do while simulation running if simExtK3_getLineSensor 0 gt 0 75 then velLeft maxVel left sensor intensity
7. mode etc 4 in parallel running simulator instances sharing a same copy buffer e Full interactivity during simulation e Full copy paste functionality not just for objects but also for their associated behavior programs also during simulation together with associated calculation objects and scripts e Exhaustive and comprehensive documentation e Compact scene and model files one single compressed binary file containing all what is needed objects and programs e Static and dynamic texturing e Multi level undo redo e Objects and attached functionalities are fully scalable resizable also during simulation e Simulation speed control also during simulation e Compact and lightweight with no dependency installations required ideal candidate for embedding e Possibility to lock scenes from further edition modification script content viewing or resource export e Free V REP PLAYER VERSION that allows you to distribute and play created scenes and models anywhere e Very high level of in house technology development and or implementation V REP Quick User Manual rev 1 4 2 1 3 Required Hardware Software e Required hardware o PC Linux or Apple computer o Minimal configuration CPU gt 300 RAM gt 512 MB Storage capacity gt 50 MB hardware accelerated is probably the most critical element of V REP Monitor resolution gt 1024x768 e Required software o 08 Microsoft
8. Windows Operating Systems XP with SP3 Vista Seven Linux 2 6 Ubuntu or another distribution MacOS from version 10 6 o V REP setup V REP Vx y z Setup exe where x y z are the current version of the software from http ftp k team com V REP optional floating license type of V REP file y repFloatingLicenseServer exe available as this software is constantly improving You won t need to request any new license for updating 1 4 How to use this handbook This handbook introduces the V REP software and how to start using it For more information on how to use V REP please refer to the help file that ships with V REP If this handbook does not answer one of the problems you are confronted with please consult the K Team web site www k team com and especially the Forum and the FAQs e Installation instruction for installation of the software and licensing e Usage quick description of the usage of the V REP software V REP Quick User Manual rev 1 4 3 2 INSTALLATION There are different versions of license corresponding to different versions of Depending of which one you bought select the corresponding instruction 2 1 The single fixed license This license permits the installation of the software on only one computer Install from the V REP Vx y z Setup exe file When you launch the program for the first time you have to register the software It will be then locked to your current comp
9. cified on the floating license server PC d floatingLicenseLight false if false that PC will search for a V REP FULL floating license otherwise it will search for a V REP LIGHT floating license 5 Save the file 6 Start V REP If the floating license server cannot be contacted or if no appropriate or available floating license could be found an error message is displayed and V REP ends Otherwise V REP starts and automatically uses the settings of the floating license that it received from the server options FULL LIGHT serial number Every 4 minutes V REP will actualize the license reserve it for another 8 minutes If it failed at actualizing the license an error message appears every 10 15 seconds 7 When ending V REP V REP will check out the license that it borrowed so that other PCs can use it If V REP crashed or failed at checking a license out because it could not connect to the server then its license will automatically be freed checked out after 8 minutes V REP Quick User Manual rev 1 4 5 3 Usage 3 1 Tutorial After having installed and registered the software you can start using it The best way is to start with the tutorials located in the V REP User Manual You can access it by the link on your desktop or from the V REP program Help menu Help Topics sub menu into V REP gt Contents gt V Rep gt Tutorials gt BubbleRob tutorial 3 2 Loading
10. er copy the Lua script from V REP Khepera 3 robot fig 3 2 to a file named script lua and transfer this file to the robot Usage run the parser with the Lua script file as argument exit with keys CTRL C kh3luaparser script lua you can modify the script with the vi editor directly on the robot vi script lua The vi commands are Key x delete the letter under the cursor Key a enter in edit append mode Key i enter in edit insert mode Escape key then exit mode write wq for saving and exiting write q for exiting without saving If you have several consoles connected to the robot via network see Korebot II user manual you can launch the script into one console and edit it in another one The parser program is checking if the script file is modified and saved It will reload and launch the newer if it is the case Look at the Lua script examples in the subfolder lua examples in the source files of the Implemented commands for the Lua parser running on the Khepera3 robot The common Lua commands can be used The implemented LUA commands for the Khepera 3 are described in the chapter 3 3 1 above And these following specific commands of the simulator can be used too sim Wait time in s wait a time in s floating point is allowed simGetSimulationTime return the time in s since the simulation started simStopSimulation stop the simulation V REP Quick User Manual rev 1 4 9 V REP Qu
11. ick User Manual rev 1 4 10 Cream K Team S A Z l PLANS PRAZ 1337 VALLORBE SWITZErlanD
12. uter as it is a single fixed license Request and buy a license by sending an email at info k team com with information of the license type your Hardware ID Your Hardware ID al Fig 2 1 and a License key for b will be sent back Registration Hardware ID donge B510 5DFF 15DC 9CED F79A 1815 License key or password if available O OK Cancel Make sure you have an operational internet connection if you entered a valid password if you are behind a proxy server however the license key cannot be retrieved with a password Fig 2 1 registration window 2 2 The single dongle license With this license you can use the software on multiple computers but only one at a time You will receive by post mail a dongle key and by email the corresponding license key to the dongle The dongle has the shape of an USB memory key Install the V REP software from the V REP Vx y z Setup exe file Then insert your dongle key into your computer and launch the program Insert the license key 2 3 The floating license This license is suited for a park of computers You will receive the license server and the corresponding license keys to a dongle key by email and by post mail the dongle key The dongle has the shape of an USB memory key 1 Insert your dongle key into your computer 2 Start the license server v_repFloatingLicenseServer exe on the PC that should act as the floating license server fig 2
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