CHAI3DCHAI3D

normal chai3D + V-rep+Linux

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07 Apr 2016 17:50 #1

Hello everyone,

I am trying to create a project with V-rep and haptic device falcon.
When i am starting V-rep it says "chai3D was not found" okey i downloaded form the offical webside this "chai3d-3.1.1-multiplatform".

Could someone tell me what i have to do with this after extracting?
Thank you so much.

Have a nice day.

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08 Apr 2016 14:09 #2

Hello grindrise,

In order to use CHAI 3D with V-REP, you need to build the CHAI 3D V-REP module and copy the resulting shared library to the V-REP directory as described in the documentation file:

chai3d-3.1.1/modules/V-REP/doc/getting-started-Makefiles.html
The 2 examples scripts provided in the CHAI 3D V-REP module are a good place to start getting acquainted with the plug-in, you can find them in:
chai3d-3.1.1/modules/V-REP/examples

It is a good idea to use the examples and shared library from the same CHAI 3D version.

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10 Apr 2016 18:46 #3

Hello,

Thank you for helping. Unfortunately what you sent me where i have to look up the steps of installation. But, It is written that i need to cory "libv_repExtCHAI3D.so". Unfortunately I cannot find that file does not exist. What could you tell me what i can do?

I am looking forward to your reply.

Cheers.

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11 Apr 2016 19:57 #4

You will find the file "libv_repExtCHAI3D.so" in the bin folder of the V-REP module, after you build it from the source files. In order to build the module, you will need to follow the instructions given under the "Compilation" section of the documentation page referenced above. The simplest way to do this is to open a terminal, and run the following commands (assuming that chai3d-3.1.1 is located in your home folder):

cd ~/chai3d-3.1.1/modules/V-REP
make
You will then find libv_repExtCHAI3D.so in
~/chai3d-3.1.1/modules/V-REP/bin/lin-x86_64
(assuming you are running a 64-bit linux distribution).

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12 Apr 2016 19:37 #5

Hello,

Finally i could solve it so there is no that written mistake... The plugin is also loaded. But if i start the example for interface to haptic device project nothing is happening. I mean I am moving the falcon but nothing happening in Vrep. What could the mistake be?
In the end i would like to use it for controlling a KUKA robot with Falcon.

Can you suggest something?

Cheers

Once again thank you for helping. Yeah i just started to use Linux this is the reason of lack knowledge. :D

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13 Apr 2016 13:56 #6

Hello grindrise,

Most likely, V-REP + CHAI 3D do not "see" your haptic device when you press the V-REP "Play" button. In Linux, superuser privileges are required to access the raw USB port of USB haptic devices, including the Falcon. There are two ways to fix this:

  1. temporary solution: run V-REP with superuser privileges by running it from a terminal with the 'sudo' command:
    cd /path/to/V-REP/
    sudo ./vrep.sh
  2. permanent solution: add the following content to a new UDEV rule file (e.g. 11-forcedimension.rules), to be placed in /etc/udev/rules.d. Then restart UDEV (or reboot your computer). This will give read-write access to normal users on all Force Dimension USB devices (including the Novint Falcon):
    # Force Dimension haptic devices
    SUBSYSTEM=="usb", ACTION=="add", ATTR{idVendor}=="1451", MODE:="0666"
    SUBSYSTEM=="usb", ACTION=="add", ATTR{idVendor}=="04b4", ATTR{idProduct}=="8613", MODE:="0666"
    
    # Novint haptic device
    SUBSYSTEM=="usb", ACTION=="add", ATTR{idVendor}=="0403", ATTR{idProduct}=="cb48", MODE:="0666"
Once this is fixed, the examples from the CHAI 3D V-REP module should work just fine with the Falcon.

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