Search found 28 matches
- 07 May 2024, 07:33
- Forum: General questions
- Topic: Make the robot move along a path
- Replies: 6
- Views: 631
Re: Make the robot move along a path
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 ...
- 07 May 2024, 07:29
- Forum: General questions
- Topic: Make the robot move along a path
- Replies: 6
- Views: 631
Re: Make the robot move along a path
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...
- 06 May 2024, 12:47
- Forum: General questions
- Topic: Make the robot move along a path
- Replies: 6
- Views: 631
Make the robot move along a path
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...
- 26 Apr 2024, 13:09
- Forum: General questions
- Topic: Control the joint to rotate more than 360 degrees
- Replies: 5
- Views: 986
Re: Control the joint to rotate more than 360 degrees
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?
- 24 Apr 2024, 09:18
- Forum: General questions
- Topic: Control the joint to rotate more than 360 degrees
- Replies: 5
- Views: 986
Re: Control the joint to rotate more than 360 degrees
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...
- 23 Apr 2024, 08:23
- Forum: General questions
- Topic: Control the joint to rotate more than 360 degrees
- Replies: 5
- Views: 986
Control the joint to rotate more than 360 degrees
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...
- 08 Apr 2024, 13:36
- Forum: General questions
- Topic: Java ZMQ Remote API
- Replies: 14
- Views: 479
Re: Java ZMQ Remote API
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...
- 08 Apr 2024, 13:17
- Forum: General questions
- Topic: Java ZMQ Remote API
- Replies: 14
- Views: 479
Re: Java ZMQ Remote API
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...
- 08 Apr 2024, 10:08
- Forum: General questions
- Topic: Java ZMQ Remote API
- Replies: 14
- Views: 479
Re: Java ZMQ Remote API
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 = ...
- 08 Apr 2024, 10:03
- Forum: General questions
- Topic: Java ZMQ Remote API
- Replies: 14
- Views: 479
Re: Java ZMQ Remote API
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...