CoppeliaSim forums

Please could you explain a little bit how to Simply move the IK target dummy onto the (interpolated) pose returned by sim.getPathInterpolatedConfig.? Apply the pos and quat obtained from sim.getPathInterpolatedConfiguration to the target dummy of the robot, that is, set the position and quaternion ...

Simply move the IK target dummy onto the (interpolated) pose returned by sim.getPathInterpolatedConfig. The script of the robot will handle IK, e.g. moving the arm so that IK tip's pose matches IK target's pose (you have to create such script / add IK handling to such script: there's plenty of exam...

Hello, May I ask how to make the end of the UR10 robotic arm move along a path, ensuring that the position and direction of the robotic arm move along the path. I referred to https://manual.coppeliarobotics.com/en/paths.htm . The example in the link is to make an object move along a path. Although I...

Thank you. But I still don't quite understand. What does config[1] represent? And I'm afraid I can't fully know the initial and final joint positions of the robotic arm. If I use pose for interpolation, can I specify how many turns the gripper of the robotic arm should rotate to reach the target pose?

Hello, Thank you very much for your answer. But I still have a question: the screw tightening motion requires the robotic arm end to rotate while moving downwards. When using sim.moveToConfig, I can only configure the joint position (rotation angle) of the last joint of the robotic arm, but I cannot...

Hello, How can I control the gripper joint to rotate more than 360 degrees in one direction at a time? Instead of allowing it to quickly reach the target pose through the shortest path. Because I want to simulate the action of tightening the screw, I will provide how many turns the gripper should ro...

I found a solution in the source code, and I should pass the callback function as a parameter as follows: sim.moveToConfig( -1, currentConfig, currentV, currentA, vel, accel, jerk, configs, targetV, "configCallBack@func", joints, cyclicJoints, 0.0 ); I tried to write it as "configCall...

Thanks! I'm sorry to bother you again. I saw the code for calling the callback function: Long retVal = sim.testCB(21,"myFunc@func",42); // sim.testCB is calling back above "myFunc" But may this method not be used for parameter passing? Because the sim.testCB method returns a valu...

public class Example { public Example() { } public static Object[] myFunc(Object[] items) { Object[] retVals = new Object[]{21}; return retVals; } public static void main(String[] _args) throws IOException, CborException { RemoteAPIClient client = new RemoteAPIClient(); RemoteAPIObjects._sim sim = ...

Thank you, I can only create one sim. I have previously tried to control the opening and closing of the gripper through " setInt32Signal " and it was successful. But I don't know how to pass a callback function when using sim.moveToConfig . In Example.java, I saw registering a callback fun...