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goal_matrix = sim.getObjectMatrix(goal,model) print('start:',goal_matrix) goal_matrix[6]=math.cos(recive_ang) goal_matrix[11]=math.cos(recive_ang) goal_matrix[7]=-math.sin(recive_ang) goal_matrix[10]=math.sin(recive_ang) print('after:',goal_matrix) sim.setObjectMatrix(goal,model,goal_matrix) that's...

Hi Myg,

try downloading libsimExtRemoteApi.dylib and put it into coppeliaSim.app/Contents/MacOS/.

simLib doesnt exist on the CMake version. To have CMake find CoppeliaSim's development files, you have to set the COPPELIASIM_ROOT_DIR environment variable to point to the CoppeliaSim directory, e.g. export COPPELIASIM_ROOT_DIR="/path/to/CoppeliaSim_Edu_V4_5_0_Rev6_Linux" Also, if you dow...

The IK plugin can do as many iterations as you want, so it should be able to solve the IK task even in one call. The number of max iterations is controlled by the maxIterations parameter of simIK.setGroupCalculation. Also the parameter options.allowError of simIK.handleGroup has some influence, sinc...

Creating two groups should be the way to go.

Then you would call simIK.handleGroup *only* on either the first or the second group.

There is an example scene at: scenes/mujoco/stringsRopesClothsAndSoftBodies.ttt but also the approach you mention, of creating a chain of bodies connected with joints would work with any physics engine too; it is not that difficult, you simply need to copy-paste one element (joint(s)+link) several t...

Field is_bigendian is different, and it would be incorrect in your message.
Data is little endian on both Intel and ARM64 architectures.

Well, you are manually creating the sensor_msgs/Image message by yourself, so you can publish any image format. From CoppeliaSim you are only reading raw image data (supposedly in mono 16-bit format). How that data is interpreted (e.g. by image_view) depends on the value of the other fields of the s...

You can add this code at the end of sysCall_sensing function of the GyroSensor 's script: sim.setFloatSignal('gyroX',gyroData[1]) sim.setFloatSignal('gyroY',gyroData[2]) sim.setFloatSignal('gyroZ',gyroData[3]) then from another script, read a value with: z=sim.getFloatSignal('gyroZ') print('gyroZ',z...

With sim.getObject you can access any object, also outside model (use absolute path in that case, e.g. /object, /object/childObject, etc... where "object" is a parent-less object).

See also Accessing scene objects programmatically.