Its been really helpfull your support since the begining. Im really Graetful for that.

I got a fully functional scene<At least what i want ^^> , comunicated trough matlab Via the API.

Im working with a model of a Hexapod.

Now i need to get the position and orientation of the Dummy_i Objects that i place on the certain points of my robot.

I need those values in reference of the Floor.

since im using matlab, im take these command lines to retrieve what i need, but no effect till now:

1st: I need the Position of the Floor on the Scene as the Base AXIS ¿no? , so i tried these lines

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```
[codigo_retorno,floor_visible_handle]=vrep.simxGetObjectHandle(clientID,'ResizableFloor_5_25_visibleElement',vrep.simx_opmode_blocking);
```

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`[codigo_retorno,floor_handle]=vrep.simxGetObjectHandle(clientID,'ResizableFloor_5_25',vrep.simx_opmode_blocking);`

Im getting differents ID <Integrers identificators from the Scene>

As it is named on the Scene my hexapod base i named as:

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`[codigo_retorno,hexa_base_handle]=vrep.simxGetObjectHandle(clientID,'hexa_base',vrep.simx_opmode_blocking);`

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`[codigo_retorno,dummy_1_handle]=vrep.simxGetObjectHandle(clientID,'Dummy_1',vrep.simx_opmode_blocking);`

Im using this commands in matlab to get the position:

For the Base:

Code: Select all

```
[codigo_retorno,position_hexa_base] = vrep.simxGetObjectPosition(clientID,hexa_base_handle,floor_visible_handle,vrep.simx_opmode_streaming);
[codigo_retorno,angles_hexa_base] = vrep.simxGetObjectOrientation(clientID,hexa_base_handle,floor_visible_handle,vrep.simx_opmode_streaming);
```

With no results. Even when i tried to get the same parametres for the Dummys im getting (0,0,0).

Here is the Workspace on Matlab:

https://www.dropbox.com/s/m3k9islkdpumk ... s.jpg?dl=0

And here is the Scene, if you want to Check it Out. Maybe im doing something Wrong:

https://www.dropbox.com/s/1dxe6kt04zm8m ... l.ttt?dl=0

Hope you can help me with this thing.

Thanks & Cheers.