CoppeliaSim forums

So when running the simulation, click the Visualize and verify dynamic content toolbar button: you will see the objects being dynamically simulated color-coded: the top_plate_link_respondable shape appears white (and not red): this means that the shape is static, and that's the culprit. Simply ...

Hello,

please post the related scene file, and we can have a look at it. Usually it is not wise to ignore the warnings...

Cheers


The scene can be found here https://github.com/offroad-robotics/robot-simulator-comparison

my lua script is

function sysCall_init()
sim = require('sim ...

I need to work with the Husky mobile robot, which is not included in CoppeliaSim. While searching, I discovered the model in the paper "How to Pick a Mobile Robot Simulator." Since I do not require ROS, I have eliminated all its functions. The model functions fine in Bullet and Newton, but the ...

Try to have a look at the demo scene scenes/eulerAngles.ttt : you will see there are many different ways one can generate a rotation and how it is expressed relative to the world or the mobile body. Or maybe I can't exactly grasp what you are trying to achieve exactly ;)

Cheers


Thank you for ...

Then you are probably better off using Euler angles

Cheers


I discovered the problem, but I was unable to solve it. The problem is that I need to rotate with respect to the body frame, so I need to retrieve its current orientation with respect to the world. With pressing the keyboard, there is ...

Hello,

not sure I understand exactly what you are trying to achieve, but below are the CoppeliaSim equivalent routines:

function quaternionFromEuler(roll, pitch, yaw)
local m = sim.buildMatrix({0, 0, 0}, {roll, pitch, yaw})
local p = sim.matrixToPose(m)
return {p[4], p[5], p[6], p[7]}
end ...

I'm having trouble setting the quaternion for an object. I need to control the orientation of a sphere within the body frame {E} (i.e. dummy frame attached to the sphere). So let rWE represent the orientation of {E} with respect to {W}. Now let's say I need to rotate the object about its x-axis ...

I'm conducting a simple experiment where a sphere hits a wall, and I record the reaction forces. The sphere's weight has been compensated by sim.addForceAndTorque(SphereHandle,{0,0,0.1*9.81}). The sphere moves with a constant velocity.

function sysCall_actuation()
-- put your actuation code here ...

Would you be able to provide us with more information about it?

Hello,

both solutions work fine, but the second is a bit simpler. In your case you could just do:

sim.addForceAndTorque(CapsuleHandle,{0,0,0.06*9.81})

sim.addForceAndTorque applies the force (and possibly a torque) at the center of mass of the shape, where the force vector is expressed in the ...