CoppeliaSim forums

You can adjust the simulation step and the dynamics step individually, according to your needs. By default the simulation step is 50ms, and the dynamics step is 5ms. If you need to control a dynamic aspect of a simulation in each dynamics step, then you should do that inside of a joint callback func...

Hello,

not sure if I understand exactly what you mean... but why not give the tool a friction of zero?

Cheers

Hello,

I am not sure this is directly related to CoppeliaSim or its ZeroMQ remote API. By googling for that error, you'll find a few hints to what might be causing this.

Cheers

Hello, you can already use CoACD with following Python script (e.g. as a CoppeliaSim embedded script): # python import numpy as np import coacd def getConvexDecomposed(shapeHandle): p = sim.getObjectPose(shapeHandle) vertices, indices, normals = sim.getShapeMesh(shapeHandle) vertices = sim.multiplyV...

Hello, at some point, you need to decide about where the attachment frames (or poses) are, relative to your end-effector, and relative to your tools. There is no need for physical objects (e.g. dummies) acting as attachment frames, you could simply have that info in some data base. But that gets mes...

Hello again,

the bug has been identified and will be fixed for CoppeliaSim V4.7, out within a few weeks.
Thanks for reporting it!

Cheers

Hello, you are mixing up the IK and the CoppeliaSim worlds: the IK world has its own set of handles. The IK world might reflect the CoppeliaSim world structurally (i.e. both kinematic chains in the IK and CoppeliaSim world are identical), but handles are distinct. You can find out about a handle's c...

Hello, if you are talking about collision response (versus collision detection ), then indeed, the respondable mask is what you should look at. Make sure that two consecutive respondable shapes have a respondable mask that results in zero, when AND-combined (AND binary operator). Since the shapes al...

Hello, to send data over to CoppeliaSim, simply call sim.callScriptFunction and make sure you have an appropriate script function in the Lua script to receive and process the data. Also make sure that the script is initialized at the time it is called from MATLAB. By the way, I hope the frequency of...

Hello, if you want to control a joint or kinematic chain in 3D space instead of joint space, then you should use inverse kinematics (IK) . In your case, if you want a joint to follows a specific 3D point, try with this exercise: Make sure your joint (for now) is in kinematics mode attach it to an ob...