CoppeliaSim forums

I have seen three ways to get force measurements applied on a tool attached to a joint. Force/Torque sensors Contact info between two objects sim.getJointForce. The first one requires compensating for the weight of the tool. For kinematic-based control which usually a velocity-based control scheme i...

it worked. thank you so much for this invaluable support.

Hello, not sure if I understand exactly what you mean... but why not give the tool a friction of zero? Cheers In this case, what is the exact parameter I need to change? The tool now is the capsule from Add->Primitive shape. I'm using Bullet now. Do I need to change this "friction": 0.5, ...

For cleaning purposes, I need to attach a tool to the end-effector. As a result, two objects have made contact with each other. I would like to reduce the friction between only two surfaces so that the contact should be as slippery as possible. Is this kind of simulation possible in CoppeliaSim, if ...

never mind. I've solved the problem.

It seems there is a change from CoppeliaSim in the way sending and receiving an array of parameters. I need to send and receive a bunch of values between C++ client and and CoppeliaSim. My old code in CoppeliaSim 4.5 no longer works in version 4.6. In Lua, I have these functions function get_q() loc...

Are there any good aerial manipulators that accept velocities as control inputs in CoppeliaSim? Due to time and stability concerns, I don't want to create my own. Models that are commercially available are welcome but I prefer free ones.

I'm using ZeroMQ, C++ and CoppeliaSim 4.5.1 in Linux. I would like to draw the robot's path (i.e. the base's position and the end-effector's position of the arm). I need to send the actual data from my client since it has the controller. I'm looking for the most efficient way to do it. I just need s...

Yes, you need to filter the information returned if you only need to contact information between the stick and the wall. Or of course you could just read the force sensor forces (which would not be exactly the same though). When using your code, I do not get any error with next(collidingObjects)......

To read the force/torque applied to the force/torque sensor, use sim.readForceSensor. If you want to use sim.getContactInfo, then make sure to correctly use it, e.g.: function sysCall_sensing() local index = 0 while true do collidingObjects, collisionPoint, reactionForce, normalVector=sim.getContac...