Search found 5677 matches

by coppelia
30 Jan 2024, 20:06
Forum: General questions
Topic: Error in child script
Replies: 6
Views: 766

Re: Error in child script

Are you running 2 or more instances of coppeliaSim in parallel? The default port for the ZeroMQ remote API appears to be already taken...

What revision are you running?

Cheers
by coppelia
29 Jan 2024, 20:28
Forum: General questions
Topic: Error in child script
Replies: 6
Views: 766

Re: Error in child script

Hello,

please state the whole error message, and show us the relevant code.

Cheers
by coppelia
29 Jan 2024, 20:26
Forum: General questions
Topic: Python Regular API Joint Force is None
Replies: 1
Views: 506

Re: Python Regular API Joint Force is None

Hello, usually, if you measure some dynamic data within the very first simulation step, before the dynamics engine was called once, you won't get any data, which is normal. Also, if your joint is not dynamically enabled, you also won't get any data (is there a little bouncing ball next to your joint...
by coppelia
29 Jan 2024, 20:15
Forum: General questions
Topic: How to implement my own PID controller?
Replies: 3
Views: 840

Re: How to implement my own PID controller?

You always need to return the maximum force/torque and a maximum velocity. With a velocity of e.g. 0, the joint won't exert any force/torque, even if it is non-zero the argument to the sysCall_joint callback function is the information about the joint that is currently being handled (remember, that...
by coppelia
26 Jan 2024, 11:05
Forum: General questions
Topic: How to implement my own PID controller?
Replies: 3
Views: 840

Re: How to implement my own PID controller?

Hello, about 1) and 2) you are basically right: you need to handle to joint within a callback from the physics engine, which happens at a higher rate than the simulation step (10x more often by default). Have a look at the demo scene scenes/motorControllerExamples-lua.ttt , specifically look at the ...
by coppelia
26 Jan 2024, 10:48
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

Hello, it is normal that the gripper does not close instantaneously. Otherwise it would not work. But instead, you should trigger the gripper close action, then wait a moment until the gripper is closed (or wait for a signal that the gripper is now not moving anymore). But I don't know how your robo...
by coppelia
26 Jan 2024, 10:39
Forum: General questions
Topic: The establishment of inverse kinematics solution module of vrep4.4.0 version
Replies: 1
Views: 660

Re: The establishment of inverse kinematics solution module of vrep4.4.0 version

Hello, I am not sure I completely understand what you want to do. My understanding is you want to move away from the old way of handling IK, and use the new way? Your second code section looks right: function sysCall_init() local simBase=sim.getObject('.') local simTip=sim.getObject('./tip') local s...
by coppelia
24 Jan 2024, 16:25
Forum: General questions
Topic: Constrains only orientation but not position
Replies: 3
Views: 801

Re: Constrains only orientation but not position

Hello, I think you have several approaches you can use. 3 that I can think of: set the dynamics properties of the base object to have a very large inertia. Best engines to use in that case: MuJoCo, Newton (or Vortex). ODE and Bullet won't perform well I guess in that situation set the dynamics engin...
by coppelia
24 Jan 2024, 16:16
Forum: General questions
Topic: Import non-convex nozzle
Replies: 2
Views: 703

Re: Import non-convex nozzle

Hello, using a simplified convex shape (or primitive shape, even better) is the way to go. What you can do is keep the original for visuals (but make sure it isn't simulated dynamically), and the simplified shape for dynamics calculations, but hidden. In many simulation models you will notice this a...
by coppelia
23 Jan 2024, 07:19
Forum: General questions
Topic: MUJOCO
Replies: 5
Views: 829

Re: MUJOCO

Hello, have a look at the demo scene scenes/mujoco/compositeAndOtherCallbacks.ttt : then add a UR5 robot model to the scene. then open the child script attached to softBody and modify the code around line 50: if simFrame==1 then endEffector = sim.getObjectParent(sim.getObject('/UR5/connection')) -- ...