Robot Simulator using Processing
This is a simulator that I designed specifically for my Humanoid robot using Processing. For last one month I have been working on this & at this point its about 90% complete. I will add more things if required. Right now the UI displays all the relevant info & has some buttons to change the view, change simulation speed, lighting, zoom in/out etc. Visualization of my motion programs to see how the robot is moving at every step is important & this simulator does that nicely.
It was easy to import the 3D files to processing however assembling was tough. One can't import the entire assembly file to Processing directly so the parts must be assembled manually inside Processing. Once it's done its easier to control the joints. However the robot reference frame is always fixed in processing. So if the robot is programmed to simulate walking it would appear as if the robot is floating/pivoted at a point & moving its legs. You can't see the actual walking motion.For that the robot reference frame should move according to the specified motion program. This can be done by coordinate frame transformation. I have implemented a "Frame transformation function" that determines the position of the robot reference frame with respect to viewer (or the screen) by taking data from the motion programs to make the robot look like its actually moving.
One of the biggest feature that's missing in the simulator is inter-body collision detection which I might implement in future. For now I am working on a self-collision detection algorithm for the robot. I will include that as soon as its complete.
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