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I am using the door model that comes with vrep, and I want to modify the size of the door handle, how should I do it?

I want to control the robotic arm to move according to a specified trajectory through torque control. How can I use inverse dynamics (inputs are joint position, joint velocity, joint acceleration and external force) to obtain the torque value of each joint?

huihui wrote: ↑21 May 2022, 15:17 I want to know the return value of the function is [Jv;Jw] or [Jw;Jv]?The right order of the return value?

And how to make the return value as a matrix(the useful matrix Jacobian form)?

I want to know the return value of the function is [Jv;Jw] or [Jw;Jv]?The right order of the return value?

Hello, a simple way to display a trace of the object, is to add a child script to the object with following content: function sysCall_init() h=sim.getObject('.') dr=sim.addDrawingObject(sim.drawing_lines|sim.drawing_cyclic,2,0,-1,300,{1,0,1}) pt=sim.getObjectPosition(h,sim.handle_world) end functio...

There is a force sensor at the end of my robotic arm. With the movement of the robotic arm, the force sensor also moves. I want to display the movement trajectory of the force sensor in the scene. I read many tutorials and said that Graph can be set, but I found that That method should only be used ...

coppelia wrote: ↑09 May 2022, 13:06 Hello,

looking at the other post you made, you already know you should use simIK.findConfig.

Have a look at the example scene scenes/kinematics/computingJointAnglesForRandomPoses.ttt

Cheers

I truly appreciate your timely help！

I want to place a small ball on a table, how can I adjust the position of the ball in the world coordinate system so that the ball is exactly on the table, and its spherical surface is tangent to the table?

I am using a custom 7DOF manipulator, I want to give a series of end poses and calculate the angle controlled by each joint of the manipulator in the current state, how should I do it?

When I use simIK.findConfig to solve a 7 joints arm's end_effector pose to joints configuration, I keep getting the wrong value(different from the current joints' configuration), what should I do?