CoppeliaSim forums

Sorry! I missed this line of code: targetTrRel.buildInterpolation(tipTrRel, targetTrRel, interpolationFactor); It seems that all subsequent operations are based on this interpolated targetTrRel , but why is interpolation done again later ( interpolTargetRel.buildInterpolation(tipTrRel, targetTrRel, ...

Hello！ I'm currently working on an inverse kinematics problem and have come across a specific implementation detail that I'm hoping to get some clarification on. In the code I'm working with（which is the getJacbian() from ikElement.cpp）, the error vector is calculated using an interpolation factor (...

Thank you for the response! Adjusting the "armature" parameter does indeed reduce the extent to which the robotic arm joints lose control, but the state where the robotic arm loses control is still unacceptable to me. I've temporarily given up on using Mujoco to implement this scene. Could...

I've tried many times but still couldn't achieve my requirements in Mujoco, so I temporarily used Bullet to implement it. However, soon I encountered a new problem. I will provide my `.ttt` and `.py` files to illustrate this specific issue. As I mentioned earlier, the concept of the base and end of ...

Hello！ I am creating a scene with a crawling robotic arm. In this scene, there is a state where the robotic arm doesn't have a base. In this configuration, the robotic arm relies on a dummy attached to an end effector link and another dummy on an object without dynamics for connection. The joints of...

Hello! I am trying to make a peg-in-hole scene, it seems the CoACD has better performance than VHACD in decomposing non-convex shapes. Will you guys consider adding this module into CoppeliaSim? I believe the addition of this component would greatly assist tasks with complex mechanical characteristi...

I want to check if a dummy is inside a cube. Initially, I thought of achieving this by checking for collisions between the dummy and the cube. However, I found that regardless of whether there is a collision between the dummy and the cube, the sim.checkCollision() function always returns -1.

Hello, did you prepare the gripper model yourself? (i.e. create it?) When you prepare a new model, you will first have to teach it where its attaching point is. For that, manually move the gripper model to its correct position and orientation on the robot fixation point, then attach it to the force...

Hello! I am trying to automatically generate some dummies on a complex object surface. I want to implement a functionality similar to the plugin "create dummies on mesh surface" using code, but I am unsure if this can be achieved through the API. The object I am working with is a massive s...

I apologize for any confusion. It is indeed the scene file from where I exported the DAE format mesh, although the console indicates the successful import of the DAE model, it does not appear in the scene. So the scene is still empty.