CoppeliaSim forums

fferri

To load a plugin:

simURDF = require('simURDF')

fferri

Hi, YouBot's wheel are not implemented the way they look (i.e. by several free spinning rollers around a wheel frame). Instead those are implemented with a trick that allows better performance and stability. You can get a more detailed explanation of CoppeliaSIm YouBot's model wheels from @coppelia ...

fferri

You can try this: in a terminal, run: which python3 it will tell you the full path to python3. Copy that path, and paste it as the value for the setting 'defaultPython' in the user settings file (~/.CoppeliaSim/usrset.txt). Next time you start CoppeliaSim, it should use the same python interpreter t...

fferri

You should first set all joints' angles, then call simIK.handleGroup.

E.g.:

Code: Select all

for i = 1, #simJoints do
    sim.setJointPosition(simJoints[i], jointPos[i])
end
local result, flags, prec = simIK.handleGroup(ikEnv, ikGroup_parallel, opts)

fferri

baojw wrote: ↑18 Dec 2023, 06:38 Error in trainDDPGWT4 (line 122)
experience = sim(env,agent,simOptions);

What's that?

sim is a name used in the RemoteAPIClient lib.

If that is also the name of a variable in your script, you should use a different name.

fferri

Keyboard input is not supported by CoppeliaSim nor by the UI plugin. This is mainly motivated by the fact that with graphical user interfaces, the ability to receive keyboard events depends on which widget has the focus and other factors. There is however one widget in simUI that can receive keyPres...

fferri

Custom data blocks is one of the many ways of communication between scripts . Nor the names of the data blocks nor the field names used are standardized by any mean, i.e. it is up to the model developer to decide the programming interface to control the model. Normally the model script contains comm...

fferri

For an introduction to motion planning see path/motion planning, and scene scenes/simpleManipulatorPathPlanning.ttt.

fferri

An object path starting with a '/' is an absolute path, so it works in the same way from any object. Passing the proxy option doesn't make sense with an absolute path (has no effect). A proxy option makes sense only with a relative path, e.g.: -- get 'gripper' object found in this tree: gripper = si...

fferri

That RRTx repository you mention is not using OMPL python bindings, so you cannot use it as it is. To add a planner to OMPL you have to implement the ompl::base::Planner C++ interface (see this page for details), and expose it to simOMPL like explained in this post . Alternative use OMPL Python bind...

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Re: URDF API

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