Search found 5677 matches

by coppelia
02 Feb 2024, 13:40
Forum: General questions
Topic: Question about the physics of joints in simulations
Replies: 2
Views: 564

Re: Question about the physics of joints in simulations

Hello, we cannot see the video you posted. Keep in mind that a joint can be in kinematic or dynamic mode . And when in dynamic mode , it can be in one of following control mode : free , force , velocity , position , spring or custom . Most manipulator joints are in dynamic mode, and in position cont...
by coppelia
02 Feb 2024, 13:29
Forum: General questions
Topic: the black and red cylinders in some joints separate
Replies: 1
Views: 528

Re: the black and red cylinders in some joints separate

Hello, what you describe are joints breaking apart: with most physics engines, joints are modelled as constraints. If some constraints cannot be solved properly, joints will come apart. This is not the case with the MuJoCo engine for instance (except where there are loop closures). To remedy for joi...
by coppelia
02 Feb 2024, 13:03
Forum: General questions
Topic: The method of controlling the gripper action not to be executed together with the mechanical arm action
Replies: 3
Views: 958

Re: The method of controlling the gripper action not to be executed together with the mechanical arm action

Sorry, I am not sure I understand. If you are trying to move a dynamically enabled joint in a realistic fashion, you cannot use sim.setJointPosition, since motion would be instantaneous. You should use instead sim.setJointTargetPosition, and the joint will try to reach the desired position when in p...
by coppelia
02 Feb 2024, 12:51
Forum: General questions
Topic: Objects repel each other
Replies: 3
Views: 716

Re: Objects repel each other

Hello, what kind of shapes are you using to model your two parts? If you use non-convex shapes, this will never be good. You should design your two parts as a compound of primitive shapes (best), or as a compound of convex shapes (not bad either). The problem when using random non-convex meshes is t...
by coppelia
02 Feb 2024, 12:45
Forum: General questions
Topic: Error in child script
Replies: 6
Views: 766

Re: Error in child script

When using Python, I highly recommend using CoppeliaSim V4.6 and later. And for easier pick-and-place motions, you might want to wait for release 4.7 (within 1-2 months), which will feature actions.

Cheers
by coppelia
02 Feb 2024, 12:43
Forum: General questions
Topic: torque control with pid
Replies: 4
Views: 674

Re: torque control with pid

Those values have now moved to the engine properties (via the engine properties button): each engine has its own set of PID values.

Cheers
by coppelia
02 Feb 2024, 12:34
Forum: General questions
Topic: cannot access local variable
Replies: 1
Views: 568

Re: cannot access local variable

Hello, when writing code within CoppeliaSim, you need to follow the suggested script structure when attaching a new script to an object. For Python, this is typically: non-threaded: #python def sysCall_init(): sim = require('sim') # do some initialization here # # Instead of using globals, you can d...
by coppelia
30 Jan 2024, 20:29
Forum: General questions
Topic: trying to draw a circle but it is not working
Replies: 2
Views: 547

Re: trying to draw a circle but it is not working

There are several things that are not the same. But the most important is that in the initial configuration, the first joint is at 120 degrees in the first scene, but at 30 degrees in the second scene.

Cheers
by coppelia
30 Jan 2024, 20:17
Forum: General questions
Topic: torque control with pid
Replies: 4
Views: 674

Re: torque control with pid

İ don't wanna make a custom controller setup like use position control mode when bla bla and switch to force mode when bla bla. I just wanna use it in Force mode all the time. Have a look at the demo scene scenes/motorControllerExamples-lua.ttt , the yellow joint. The joint needs to be in Dynamic m...
by coppelia
30 Jan 2024, 20:10
Forum: General questions
Topic: Bug while using python coppeliasim_zmqremoteapi_client library
Replies: 2
Views: 529

Re: Bug while using python coppeliasim_zmqremoteapi_client library

What version and what revision of coppeliaSim are you running? If not the latest, try to upgrade to the latest.

Also, once you have the latest version, make sure to upgrade the pip package too, e.g.:

Code: Select all

pip install --upgrade coppeliasim_zmqremoteapi_client
Cheers