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fferri

fferri wrote: ↑22 Apr 2024, 09:25 handle = rgbData[3*i+0]+(rgbData[3*i+1]<<8)+(rgbData[3*i+2]<<16)

fferri

Thanks for sharing your solution!

fferri

Read point cloud content with sim.getPointCloudPoints and write to text file:

Code: Select all

local points = sim.getPointCloudPoints(pointCloudHandle)
local f = assert(io.open(filename, 'w'))
for i = 1, #points, 3 do
    f:write(string.format('%f, %f, %f\n', points[i], points[i+1], points[i+2]))
end
f:close()

fferri

Wether you can directly set the joint position or not depends in which joint mode and control mode the joint is.

fferri

Paths starting with . are only available from associated code.

More info at https://manual.coppeliarobotics.com/en/ ... bjects.htm

fferri

It is correct to use sim.moveToConfig. You can use a 1-dimensional config, starting from {0} , ending in {1} , which would be the parameter for interpolation between an initial and a final config/position/pose. To interpolate between 2 joint positions you can use (1 - config[1]) * initialJointPos + ...

fferri

try running in Xvfb? that would use software rendering

fferri

If you don't need to use a cyclic joint, simply selecting a joint range larger than 2*pi is enough to make the joint turn more than 1 full revolution when setting a large enough target position (via sim.setJointTargetPosition). If instead you are forced to used a cyclic joint, the solution is to use...

fferri

It is explained in the manual:

https://manual.coppeliarobotics.com/en/paths.htm

(last example)

fferri

Actually, even better (and faster) than that, you can set the vision sensor render mode to "color coded handles", then each object is rendered with a unique color corresponding to its handle. Then you can go through all pixels and decode which object it relates to ( handle = rgbData[3*i+0]...

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