Search found 5699 matches

by coppelia
28 Mar 2024, 07:33
Forum: General questions
Topic: How to get the angle change of rotating joints during simulation
Replies: 1
Views: 5

Re: How to get the angle change of rotating joints during simulation

Hello,

there are several functions related to 3D transformations you could use. But best is probably to use sim.getRotationAxis. Make sure to also read the section on positions, orientations and transformations.

Cheers
by coppelia
27 Mar 2024, 10:57
Forum: General questions
Topic: Asti model
Replies: 1
Views: 22

Re: Asti model

Hello,

the Asti robot is inspired by Asimo, the humanoid robot from Honda. Asti does not exist in real.

Cheers
by coppelia
27 Mar 2024, 10:01
Forum: General questions
Topic: getting the joint force as a float or integer
Replies: 5
Views: 70

Re: getting the joint force as a float or integer

Hello, in the very first simulation step, before the physics engine is even called, there is no dynamic state. And in that case, the function will return None . The easiest solution would be to skip the very first simulation step in your sysCall_actuation function. Cheers Edit: actually, we will cha...
by coppelia
27 Mar 2024, 09:54
Forum: Bug reports
Topic: Prismatic joint with velocity 0 doesn't hold position.
Replies: 3
Views: 49

Re: Prismatic joint with velocity 0 doesn't hold position.

For hydraulic cylinders, I'd use prismatic joints in position control mode.

If you need anything more fancy, then use a custom control mode, and write your own controller for that (via a joint callback function).

Cheers
by coppelia
26 Mar 2024, 17:27
Forum: Bug reports
Topic: ZMQ remote API failing after the same amount of runs of a simulation
Replies: 4
Views: 47

Re: ZMQ remote API failing after the same amount of runs of a simulation

Can you provide a minimalistic Python client code that would trigger that error? (maybe with a related minimalistic scene)

Cheers
by coppelia
26 Mar 2024, 17:24
Forum: General questions
Topic: How to use simOMPL in python remote API?
Replies: 1
Views: 35

Re: How to use simOMPL in python remote API?

Hello, best would be to not use any of the simOMPL API functions in an external client: wrap all OMPL functionality inside of child script functions, that you can call from your external client via the ZeroMQ remote API via sim.callScriptFunction. Something like: function findPath(inputArg1, inputAr...
by coppelia
26 Mar 2024, 17:20
Forum: General questions
Topic: Are global variables needed in ZeroMQ remote API Matlab?
Replies: 1
Views: 40

Re: Are global variables needed in ZeroMQ remote API Matlab?

Hello, make sure that sim is accessible from your code location. Making sim global is one possibility. But the error message ...one of the function's argument type is not correct. is directly caused by CoppeliaSim, not MATLAB. That means that your function call to sim.setJointTargetVelocity was succ...
by coppelia
26 Mar 2024, 17:16
Forum: General questions
Topic: Connect by Python
Replies: 1
Views: 37

Re: Connect by Python

Hello,

see my answer to your other post.

Cheers
by coppelia
26 Mar 2024, 17:15
Forum: General questions
Topic: Kinect RGB through Python Remote connection
Replies: 1
Views: 43

Re: Kinect RGB through Python Remote connection

Hello,

please use the ZeroMQ remote API, which is much faster, flexible and easy to use. The legacy remote API is deprecated.

Cheers
by coppelia
26 Mar 2024, 17:12
Forum: General questions
Topic: Legacy api to zmq api
Replies: 1
Views: 36

Re: Legacy api to zmq api

Hello,

simply this:

Code: Select all

    for i = 1:obj.number_of_joints
        %Read from joints
        armJoints(i) = sim.getJointPosition(obj.jointHandle{i})
    end
Cheers