CoppeliaSim forums

Thanks for the help with the eigen3 issue. OMPL plugin with OMPL 1.4.2 is compiling now. But I needed to change the lines to compile (e.g. add "Release" in the path, and use unly a single "." at the end). See below export CXXFLAGS=-isystem\ /usr/include/eigen3/ #or wherever it is...

Remember to fix the following issue related to OMPL when updating V-REP with the newest OMPL version: http://forum.coppeliarobotics.com/viewtopic.php?f=5&t=7642&p=29929#p29929 Could you also add support for SO2 and SO3 in the plugin? Similar to this issue: http://forum.coppeliarobotics.com/v...

Hi, I am sharing the following scene (3DoFHolonomicPathPlanning demo modified to use PRMstar with 10 seconds planning time): https://drive.google.com/open?id=1JFzqdKKG1tVzCc4RHkLHa_2g5HjfgoW0 I have added some debug information (e.g. number of total collision checks and number of collisions) Info: P...

Thank you. That is an interesting alternative if you do not want to modify the OMPL plugin.

Okay thanks, so calling V-REP API function via LUA scripts is slower than calling c-functions from the plugin side. About using multiple CPUs. Maybe I can run several instances of V-REP (as well as several PMPL plugins) in parallel? I would need to do path planning for different scenes anyway (e.g. ...

I noticed that using simOMPL.setStateValidationCallback is slower than using the default state validation (e.g. specifying collision pairs by simOMPL.setCollisionPairs). I have implemented the same collision checking in the callback function that I would expect to be implemented by default when no c...

I solved my problem the following way. I modified the OMPL plugin and added the SO2 state space type (similar to SE2 for pose2d). Now I can build my state space by combining position3d and SO2 like below: local sub_state_3d = simOMPL.createStateSpace('3d',simOMPL.StateSpaceType.position3d,robotHandl...

What is the best way to create a state space with 3D position plus 1 rotation about one of the principal axis of the 3D position space? Can I add a 1D position to the 2D pose state space? if yes, could you give me an example how? Thank you.

I fixed the link. Sorry about that.

This post is related to my other post "Changing parent of object changes its position (by a small numerical error)" . I decided to create this post, because the other post is mainly about the issue that changing the parent affects the position of the object. The other post is also much mor...