CoppeliaSim forums

There's a regular API for C/C++ plugins as well.

If in embedded scripts you would use sim.getObject to retrieve the handle of an object, in a plugin you would use simGetObject: https://manual.coppeliarobotics.com/en/ ... ct_cpp.htm

It is highly recommended to use the ZeroMQ remote API, since it is much easier and flexible. Additionally, you'll have access to many more API functions, than with the legacy remote API.

The legacy remote API is not supported anymore since a long time.

If you search old forum posts you should find someone that eventually succeeded in running under WSL....

You can call any function defined in a child script from external programs (e.g. remote API clients). So you can have a Lua function in a child script to make several readings and return a table of values, e.g.: sim = require('sim') function sysCall_init() sensorHandle = sim.getObject('...') sensorD...

If you don't use the WebSockets Remote API nor the WebSockets (simWS) plugin, you can safely ignore that error.

You can pass command line option -GwsRemoteApi.autoStart=false to disable the WebSockets Remote API Server if you don't want to see that error.

Hi,

have you seen this topic https://forum.coppeliarobotics.com/view ... hp?p=40053 ?

For a better control on keyboard events (or any other type of input events) you may want to write a plugin, e.g. using Qt, SDL, etc.

$ export COPPELIASIM_ROOT_DIR=~/path/to/coppeliaSim/folder $ ulimit -s unlimited #otherwise compilation might freeze/crash $ colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release That is correct. Verify that the plugin file (libsimROS2.so) is installed to the correct location of co...

That approach works fine for me. Once the gravity force has been balanced, it is sufficient a very tiny force to have an object lift off, considering you are applying that force constantly (i.e. on every step, in e.g. sysCall_actuation) local self = sim.getObject '.' local m = sim.getShapeMass(self)...