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fferri

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...

fferri

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));

fferri

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).

fferri

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

Code: Select all

poses = {}
for line in io.lines('poses.csv') do
    local pose = map(tonumber, string.split(line, ','))
    table.insert(poses, pose)
end

fferri

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...

fferri

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.

fferri

Documented here:

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

fferri

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...

fferri

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 ...

fferri

Yes it is possible.

Start and goal states are specified with simOMPL.setStartState and simOMPL.setGoalStates or related functions.

OMPL plugin is shipped with CoppeliaSim, file is called libsimOMPL.so/libsimOMPL.dylib/simOMPL.dll

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