CoppeliaSim forums

fferri

You need to break down the problem into the smaller problems, e.g.: 1) deriving the robot's kinematic model 2) inverting the kinematic model 3) defining the attractive and repulsive potential fields using distance calculation module 4) moving the robot to walk the gradient of the potential field Can...

fferri

Hi, you can move the robot by setting a target velocity for left and right wheel respectively ( vLeft and vRight ): sim.setJointTargetVelocity(motorLeft, vLeft) sim.setJointTargetVelocity(motorRight, vRight) and you can measure error with respect to target (assuming there is a dummy in the target po...

fferri

With drawing objects.

E.g.:

Code: Select all

dwo = sim.addDrawingObject(sim.drawing_linestrip, 5, 0, -1, 1000, {1,0,0})
for i = 0, 100 do
    local x = math.cos(math.pi * 2 * i / 100)
    local y = math.sin(math.pi * 4 * i / 100)
    local z = 0.005
    sim.addDrawingObjectItem(dwo, {x, y, z})
end

fferri

The way the Create dummies on mesh add-on works is by creating a proximity sensor pointing towards the mesh (from the camera viewpoint).

You can see implementation of function rayCast() here and copy it and adapt it to your needs.

fferri

Experimental support for QoS has been added to simROS2. You can create a qos struct in lua: --lua local qos = { history = simROS2.qos_history_policy.system_default, depth = 10, reliability = simROS2.qos_reliability_policy.system_default, durability = simROS2.qos_durability_policy.system_default, dea...

fferri

https://docs.ros2.org/foxy/api/rclcpp/c ... 4546ec3963

fferri

Works also in Python: [sandboxScript:info] Simulator launched, welcome! [simCmd:warning] Sandbox language: Python > sys.version '3.11.6 (main, Nov 2 2023, 04:39:43) [Clang 14.0.3 (clang-1403.0.22.14.1)]' > simURDF = require('simURDF') > [method for method in dir(simURDF) if not method.startswith('__...

fferri

Perhaps sim.setObjectFloatParam(jointHandle, sim.jointfloatparam_velocity, vel) or sim.setJointTargetVelocity

fferri

Yes:

Code: Select all

sim.setObjectInt32Param(jointHandle, sim.jointintparam_dynctrlmode, sim.jointdynctrl_position)
sim.setObjectInt32Param(jointHandle, sim.jointintparam_dynctrlmode, sim.jointdynctrl_velocity)
sim.setObjectInt32Param(jointHandle, sim.jointintparam_dynctrlmode, sim.jointdynctrl_force)

fferri

You need to ensure that all elements of the cell array are of the same type before using cell2mat. You can convert all elements to either double or single. You can iterate over the elements of the cell array and convert each element. e.g.: for i = 1:length(q_dq_data) q_dq_data{i} = double(q_dq_data{...

CoppeliaSim forums

Search found 1017 matches

Re: Go to Goal in matlab

Re: Go to Goal in matlab

Re: Painting the robot's trace

Re: Create dummies on mesh programmatically

Re: ros2 qos

Re: ros2 qos

Re: URDF API

Re: How to set the rotation speed when the rotation joint is in position mode

Re: Change robot joint mode through script

Re: data type with calling script in Matlab