CoppeliaSim forums

coppelia

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...

coppelia

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...

coppelia

Hello,

see my answer to your other post.

Cheers

coppelia

Hello,

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

Cheers

coppelia

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

coppelia

Hello,

I didn't understand what the exact problem was, when you say that it doesn't seem to work, nor does it give any output... does that mean the CoppeliaSim hangs? Or that the script stops running eventually? Until what point is the script executed?

Cheers

coppelia

Please share the scene file.

Cheers

coppelia

The model you shared is relatively stable here... with MuJoCo it is even very stable. Please share the equivalent scene file, since there are settings that are not stored in the model and that influence its behaviour.

Cheers

coppelia

Hello, in your MuJoCo model, not all joints are controlled in positions. Additionally, make sure to set all joint's dynamic engine property armature to 20: this is the secret sauce most of the time. When working with Bullet or ODE, you indeed should make sure that masses and inertia are not too diff...

coppelia

Hello,

if you select the compound shape, then navigate to [Menu bar > File > Export > Selection (shapes)...] then you can export it as *.dae format (i.e. collada).

Cheers

CoppeliaSim forums

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