Set Shape Inertia with Matlab API

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tgurriet
Posts: 10
Joined: 14 Feb 2018, 14:23

Set Shape Inertia with Matlab API

Post by tgurriet » 16 Jul 2018, 12:47

Hello,

I cannot find a way to set the inertia of a body with the Matlab API. The function "simSetShapeMassAndInertia" is not implemented and there are no inertia parameter in : http://www.coppeliarobotics.com/helpFil ... terIDs.htm.

Does anyone have a solution to set the Inertial frame (orientation/translation) and the inertia matrix?
Thanks in advance,
Tom

Irving
Posts: 11
Joined: 24 Jun 2018, 19:55

Re: Set Shape Inertia with Matlab API

Post by Irving » 18 Jul 2018, 16:33

I'm sure Coppelia will confirm this but I suspect the answer is to write a custom function in a V-REP child script and call that from Matlab using simxCallScriptFunction

I've had to do this for a couple of functions...

tgurriet
Posts: 10
Joined: 14 Feb 2018, 14:23

Re: Set Shape Inertia with Matlab API

Post by tgurriet » 18 Jul 2018, 17:11

It's definitly one way to go, but that functionality is kinda important, it would be great to have the "simSetShapeMassAndInertia" function implemented in the API directly.

coppelia
Site Admin
Posts: 6792
Joined: 14 Dec 2012, 00:25

Re: Set Shape Inertia with Matlab API

Post by coppelia » 20 Jul 2018, 07:38

Hello,

yes, Irving is right, currently this is your best option. You could of course also modify the remote API, which is currently overkill. The next version of the remote API will be based on BlueZero, and very easily extendible. Should be available in next release.

Cheers

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