CoppeliaSim forums

Thanks for your reply,
I want to store torque values as the robot's actions at each time step so I can use this data for imitation learning.

Hello, In my Coppeliasim scene, I have joints that are motor enabled + control loop enabled. I am using position control for these joints using the sim.setJointTargetPosition command, and I want to retrieve the torques that these joints are applying to the links. What is the most precise way of read...

Thanks for your reply, As you said, I have used the customization script, but the script does not work with my code, I have also tried to run a simple code in the customization script, but it did not work. By not working, I mean that after running the simulation, the joint that should move did not m...

Hello, I am using ROS for applying RL in Coppeliasim. I have scripts in python that communicate with scripts in coppeliasim scene via ROS. To apply RL, I have to make an RL environment in which I should implement the reset method. This method should restart the simulation to its initial state and st...

Hello,
How can I get the rotational acceleration of a revolute joint?
I searched for it, but I did not find anything for this.

When will V4.3.0.rev4 be released?

I am going to share the solution that worked for me. It may prevent someone from getting a headache =) The main problem was the time step of the simulation, which I set to 0.005 seconds (same as the Physics Engines time steps). The most realistic result I got from all the physics engines was from OD...

Hello,
It would be good to add a function that applies the desired amount of torque directly to a joint, even negative or positive torque.

Thanks for your reply again. I opened a new topic because the topic you mentioned was about finding derivatives of Euler angles, where here I am asking about finding angular velocity that IMU returns. I thought it would be better to discuss this issue in a new topic. I understand your point that by ...

Thanks for your reply. I used the function you mentioned. Here is my script: function sysCall_init() dummy = sim.getObject("/dummy_path") function sysCall_sensing() linearVelocity, angularVelocity_axis=sim.getObjectVelocity(dummy | sim.handleflag_axis) linearVelocity, angularVelocity=sim.g...