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Detection of EntityContact and Reaction

Detection of EntityContact and Reaction. Robotics Beginner Course – 19. Young Joon Kim http://www.helloapps.com. Topics. SPL Script for enabling EntityContact to be detectable Detecting EntityContact on the VPL Reaction for the EntityContact.

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Detection of EntityContact and Reaction

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  1. Detection of EntityContact and Reaction Robotics Beginner Course – 19 Young Joon Kim http://www.helloapps.com

  2. Topics • SPL Script for enabling EntityContact to be detectable • Detecting EntityContact on the VPL • Reaction for the EntityContact

  3. SPL Script for enabling EntityContact to be detectable

  4. SPL Script for enabling entity-contact to be detectable • Start with the basic environment

  5. SPL Script for enabling entity-contact to be detectable • Add a entity • Add a Box Shape

  6. SPL Script for enabling entity-contact to be detectable • Add “/EnableContactNotification:” option

  7. SPL Script for enabling entity-contact to be detectable • Remove “/Procedure:” option line Delete line

  8. SPL Script for enabling entity-contact to be detectable • Add a DifferentialDriveEntity

  9. SPL Script for enabling entity-contact to be detectable • Add “/Position:” option • Change the z-position with “1.0”

  10. SPL Script for enabling entity-contact to be detectable • Add “FlushScript”

  11. SPL Script for enabling entity-contact to be detectable • Save script with the name of “script/EntityContact1.txt”

  12. SPL Script for enabling entity-contact to be detectable • Executed result

  13. Detect EntityContact on the VPL

  14. Detect EntityContact on the VPL • Build diagram to load sim environment

  15. Detect EntityContact on the VPL • Add “SPL Sensors” and “Calculate” activity • Connect “SPLSensors” and “Calculate”

  16. Detect EntityContact on the VPL • Select “EntityContactNotify” from the list

  17. Detect EntityContact on the VPL • Select “EntityName”

  18. Detect EntityContact on the VPL • Type expression as follows • Select “Touched” from the list

  19. Detect EntityContact on the VPL • Add “HelloApps Console” service

  20. Detect EntityContact on the VPL • Add “SimpleDashboard”

  21. Detect EntityContact on the VPL • Control the robot in order to make robot collide with box

  22. Detect EntityContact on the VPL • Executed results

  23. Reaction for the entity-contact

  24. Reaction for the EntityContact • Build diagram to load sim environment • Add a “SPL Sensors”

  25. Reaction for the EntityContact • Add “If” activity • Connect “SPLSensors” and “If” activity

  26. Reaction for the EntityContact • Select “EntityContactNotify”

  27. Reaction for the EntityContact • Add “Data” and “SPLDrive” • Type “base1.GoTo(-1.0, 0.2)” on the “Data” activity • Move backwards 1.0m with 0.2 power

  28. Reaction for the EntityContact • Add diagram to move forwards

  29. Reaction for the EntityContact • Save diagram and execute

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