CoppeliaSim forums

Thank you.

Is it true that the greater the damping factor within a certain range, the better the control accuracy of DLS algorithm?

What I want to know is how the damping factor affects the control performance of DLS algorithm. For example, what is the principle of adjusting this value?

Dear everyone:
How does the damping factor work in the DLS method? Is there any relevant document?

Dear admin:

How to get the accurate run time interval for every function(i.e, sysCall_sensing) in scene script?

I have try getSimulationTime in one function, the delta time is zero. For the getSimulationTimeStep?

Best Wishes.

OK, the effects displayed in these two ways are very familiar.

How can the dot map of the position information be displayed in a separate window?

Besides, How can the position images of two different dummy nodes in the same scene be drawn in a separate image window?

Yeah, I try to show the position changes for the point cloud. function sysCall_init() pc=sim.createPointCloud(0.01,1000,0,2) modelHandle = sim.getObject('/LBR_iiwa_7_R800') targetHandle = sim.getObject('/target') end function sysCall_sensing() local t=sim.getSimulationTime() local p = sim.getObjectP...

Dear admin:
Can we draw the point cloud only for the end point trajectory of the manipulator?
For example, as the picture shown, the red point or green point:




Best wishes.

???

Dear amirmmi:

What is default format of the Euler angles of a dummy in CoppeliaSim? Is it Z-Y-X axis？

Best Wishes.

Well, I noticed that it is where the code should be inserted. However, I mean the formula in my case as follow: \dot{\boldsymbol \theta}=\boldsymbol J^\dagger (\dot{\boldsymbol p}_d+\gamma (\boldsymbol p_d-\boldsymbol p_a)) . i.e, the variable \dot{\boldsymbol p}_d ( the velocity of the target posit...