Search found 980 matches

by fferri
20 Mar 2024, 23:52
Forum: General questions
Topic: Coppelia OMPL plugin help
Replies: 1
Views: 40

Re: Coppelia OMPL plugin help

Yes it is possible.

Start and goal states are specified with simOMPL.setStartState and simOMPL.setGoalStates or related functions.

OMPL plugin is shipped with CoppeliaSim, file is called libsimOMPL.so/libsimOMPL.dylib/simOMPL.dll
by fferri
20 Mar 2024, 23:04
Forum: General questions
Topic: 3D printer nozzle simulation
Replies: 2
Views: 51

Re: 3D printer nozzle simulation

simply output more spheres :)

ideally you should output at least 1 sphere every unit of distance equal to sphere's radius... even more to get a more uniform look.

drawing objects are the fastest way if you don't need dynamics.
by fferri
20 Mar 2024, 23:02
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

sim.getJointForce returns a float already.

Perhaps you have some error in your code.
by fferri
20 Mar 2024, 23:01
Forum: General questions
Topic: ObjectTracking bounding box
Replies: 1
Views: 47

Re: ObjectTracking bounding box

In the ObjectTracking example in coppeliasim, the sensor script generates a bounding box around the identified object. How do I make the bounding box into a circle/ellipse? yes, change: cv.rectangle(maskdbg, (x, y), (x+w, y+h), (0, 255, 0), 2) to some different drawing instruction.
by fferri
20 Mar 2024, 22:56
Forum: General questions
Topic: How to put the motion data and implement dynamically
Replies: 2
Views: 52

Re: How to put the motion data and implement dynamically

If you know the whole joint trajectory in advance you can pre-compute perfect velocity acceleration etc. The problem of estimating velocity is so only if you want to do it in realtime (i.e. without knowing future values) then you can only estimate left derivative which is always "late" wit...
by fferri
20 Mar 2024, 21:59
Forum: General questions
Topic: ROS 2 plugin is not loading on start up
Replies: 2
Views: 50

Re: ROS 2 plugin is not loading on start up

That's normal.
Plugins are not loaded on startup anymore (probably since V4.5.1). Instead, are loaded on demand, by loadPlugin() or by lua modules (e.g. typically, simFoo.lua will loadPlugin('simFoo') if "Foo" is a plugin).
by fferri
18 Mar 2024, 16:43
Forum: General questions
Topic: path following object
Replies: 4
Views: 72

Re: path following object

NandanUmrikar wrote: 18 Mar 2024, 11:08

Code: Select all

--lua
    sim.setObjectPose(simTarget, {-k * centerX, k * centerY, 0, 0, 0, 0, 1}, simTip)
you are setting position of simTarget relative to simTip's reference frame.
by fferri
18 Mar 2024, 09:00
Forum: General questions
Topic: The data in the graph will be lost.
Replies: 1
Views: 46

Re: The data in the graph will be lost.

Probably you need to set a larger buffer size in the graph dialog.
by fferri
17 Mar 2024, 13:09
Forum: General questions
Topic: IK failed: {'notwithintolerance'}
Replies: 1
Views: 39

Re: IK failed: {'notwithintolerance'}

When driving the tip towards the target which initially is not close you'd get a "not within tolerance error".
You can pass allowError=true in that first stage to allow IK to continue handle it anyways, until it goes within tolerance, then you won't need allowError anymore.