CoppeliaSim forums

When I try to put an object(a cube, for example), I have to use the item shift function to drag or input the position to change this object, but it always have little distance between the ground and the object, and if I drag too much, it will pass through the ground. How to make the target object ...

When I use the function 'sim.checkCollision', it cannot detect the collsion between floor and robot. Even though the configration that input to the function may cause collision with floor obviously. My code is following：

function sysCall_thread()
robotCollection=sim.createCollection()
sim ...

Can function of simIK module(for example, simIK.addElement) be called and used in the external application script ?

Thank you for your reply.
Additionally, I wanna ask that how to make sure how much joint position will chang within each step when drive joint through 'sim.moveToConfig_step' ?

The function I use(sim.moveToConfig) can only be used in the thread script, while the parameter of this function can only be caculated by the external application. Therefore, I wonder konw that is there way to pass the result caculate by the external applicatioin to the sever so that the thread ...

Thkans for your reply. I have undertood how to use this function, but the trajectory planed by this function may have collision with the ground, is there any method to aviod such collision?

Looking forward to your reply. Thank you.

I'm trying to use function 'sim.moveToPose()' to make a point to point movement, but I got some problems.
My code:
sim=require'sim'
function sysCall_init()
a=sim.setInt32Signal('RG2_open',0)
end
function sysCall_thread()
local euler={0, -90, 0}
local position={-0.68781, -0.110, 0.31352}
local ...

How to ensure that the end gripper and the robot arm always maintain a rigid connection and do not bend at the connection position when there is a load?
As shown in this figure，the gripper and the robot manipulator separate when there is a load on the gripper.
url of figure：
https://imgur.com/a ...

This problem has been solved.
Don't select "convex hull of non-convex collision links" when import urdf can solve this problem.

The model imported as URDF has strange behaviour when it comes into contact with other objects.
You can see that in following video:
https://youtu.be/p6sPWxTQ0cE
this truss will just fly away when it is seized by the gripper.
And if I Replacing the trusses with cubes added directly from coppeliasim ...