CoppeliaSim forums

lumeqi wrote: ↑06 Apr 2024, 06:40 RemoteAPIObjects._sim simT = getClient().getSim();

what's that?

lumeqi wrote: ↑06 Apr 2024, 06:40 if (sim.isDynamicallyEnabled(joint)) {

what's sim here?

lumeqi wrote: ↑06 Apr 2024, 06:40 this.getClient().getSim().moveToConfig(

same...

The concept of robot configuration aims to conveniently represent a robot as a vector of joint positions. If the robot geometry is the same (same DH params, same joints ranges & orientation), the same robot configuration vector will describe the same pose both in CoppeliaSim and in Robotics Tool...

From zmqRemoteApi/clients/matlab/synchronousImageTransmission.m:

Code: Select all

    [img, resX, resY] = sim.getVisionSensorCharImage(visionSensorHandle);
    % display image in MATLAB:
    imshow(flip(permute(reshape(img, 3, resY, resX), [3 2 1]), 1));

That's not correct.

You have to add simUI = require 'simUI' instead. Plugins have to be loaded explicitly (implicit loading is only a backwards compatibility feature).

Yes, you can use e.g. a text or csv file...

Make sure the object to animate is static, then apply the poses sequentially with sim.setObjectPose, e.g.: function sysCall_init() handle = sim.getObject '.' poses = { {0, 0, 0, 0, 0, 0, 1}, {0, 0, 0, 0, 0, 0, 1}, ... } end function sysCall_actuation() index = (index or 0) + 1 if index <= #poses the...

If a list is used in Python, in Java that would be List<T>, with T being the type of the elements of the list.

There are a couple of examples in zmqRemoteApi/clients/java/src/main/java.

Documented here:

https://manual.coppeliarobotics.com/en/ ... w.htm#java

Not sure if that's the intended behavior, as dummies have a "Collidable" flag, but that doesn't seem to affect sim.checkCollision which always returns 0. You have two options, depending on how you want to treat a dummy. If you want to treat the dummy as a point in space, you can simply che...

I encountered the following error: “in sim.genericFunctionHandler: Found invalid joint handle.” The IK plugin creates a copy of the simulated environment, so you will have the "sim" world, and the "IK" world which uses a different set of handles. Most of the simIK functions use ...