CoppeliaSim forums

Yes, the URDF importer is very finicky about the resources' paths, and often those need to be adjusted...

It is really transparent (opacity = 0) or it is in a hidden layer?

There is an option to avoid joint limits in simIK.setGroupFlags: simIK.group_avoidlimits : joint limits are actively avoided A more customizable approach to drive the robot configuration towards "better" poses could be of introducing a secondary task, e.g. to attract the elbow up, without ...

eulerAngles = sim.getObjectOrientation(shapeHandle, sim.handle_world) eulerAngles[3] = eulerAngles[3] + amount sim.setObjectOrientation(shapeHandle, eulerAngles, sim.handle_world) Notes: sim.handle_world is the default, so it is not required to specify it; objects rotate around their origin. Arbitr...

Make sure to use the latest version of CoppeliaSim. You are using an old version. In the latest version of Example.java there are more examples. About your other question: Object[] is an array of Object which is the superclass of all types, indicating a no better specified type. Object[] is used as ...

ConfigCallBack callback = (configs1, vel1, accel1, sim) -> { int i = 0; for (int joint : joints) { if (sim.isDynamicallyEnabled(joint)) { sim.setJointTargetPosition(joint, configs1.get(i)); } else { sim.setJointPosition(joint, configs1.get(i)); } i++; } }; this.getClient().getSim().moveToConfig( -1...

The point is that sim, simT and the result of RemoteAPIClient.getSim() are all the same thing which you are fetching three times.

just wanted to make sure wether you understand the Java ZMQ remote API client interface...

lumeqi wrote: ↑06 Apr 2024, 06:40 RemoteAPIObjects._sim simT = getClient().getSim();

what's that?

lumeqi wrote: ↑06 Apr 2024, 06:40 if (sim.isDynamicallyEnabled(joint)) {

what's sim here?

lumeqi wrote: ↑06 Apr 2024, 06:40 this.getClient().getSim().moveToConfig(

same...

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...

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));