CoppeliaSim forums

Yes, the URDF importer is very finicky about the resources' paths, and often those need to be adjusted... I have encountered a new problem. The joints in my URDF file are all in the same location as the base_link after import, and the coordinates set in URDF don't appear. In addition, the joint imp...

It is really transparent (opacity = 0) or it is in a hidden layer? I've found the reason. When I put them in the same folder /home/lab/model and tried to reference it using "./quad.obj" and "quad.obj", it couldn't find the file. But when I changed the path to an absolute path &q...

hello, i have a urdf file, and in this file, <visual> <origin rpy="0 0 0" xyz="0 0 -0.02"/> <geometry> <mesh filename="./quad.obj" scale=".0875 .0875 .0875"/> </geometry> <material name="grey"> <color rgba=".2 .2 .2 1"/> </material> </visua...

It would be simpler if you explain what you are trying to achieve. If you are trying to get the robot's yaw, you can simply take the robot's front-facing axis (in case of DR12 that would be -z ) project it onto the XY plane and use math.atan2(y,x) to get the angle, e.g.: function getYaw() local m=s...

function sysCall_init() corout=coroutine.create(coroutineMain) end function sysCall_actuation() if coroutine.status(corout)~='dead' then local ok,errorMsg=coroutine.resume(corout) if errorMsg then error(debug.traceback(corout,errorMsg),2) end end end function sysCall_cleanup() -- do some clean-up h...

function sysCall_actuation() if recive_ang ~=0 then model_matrix = sim.getObjectMatrix(model,-1) z = {0,0,1} pos={0,0,0} goal_matrix = sim.rotateAroundAxis(model_matrix,z,pos,recive_ang) while recive_ang>0 do model_matrix = sim.getObjectMatrix(model,-1) sim.setJointTargetVelocity(rightJointHandle,1...

Did it now really crash, or simply hang like last time?! If it hangs, then you are probably using a long loop in a non-coroutine section. You didn't show your whole code, so difficult to say Cheers The strange thing is that I wrote the same loop function in sysCall_actuation(), sim.setJointTargetVe...

that's a terrible way to operate on a transform matrix. Try sim.rotateAroundAxis or some function from matrix.lua , e.g. Matrix3x3:fromaxisangle , Matrix3x3:rotx , Matrix3x3:roty , Matrix3x3:rotz (use then Matrix4x4:fromrotation or Matrix4x4:fromrt to create a full 4x4 matrix). Thank you for your r...

No, that happens is you have an infinite loop or a very long operation in a non-threaded context. Something is wrong with your algorithm. Cheers I ran into the same problem. I put a while function in sysCall_actuation() so that when it didn’t rotate to the desired angle, it kept turning, but it wou...

thanks your reply!
I have successfully make it,this is very important to me
Thank you very much：）