CoppeliaSim forums

Hello,

the Dobot robot is a bit special as it has 2 trapezoidal loops. There are many different ways to solve this via IK. The simplest is to identify 4 driving joints (motors), going from tip to base, as one would do with a simple kinematic chain. e.g.:
tip rotation
elbow
base arm
base ...

Hello,

CoppeliaSim generally does not introduce randomized behavior, except in specific contexts where it is meaningful—such as in path-searching tasks or similar stochastic applications. The remote API also preserves deterministic behavior when running in stepping mode. However, on the physics ...

Hello,

we cannot reproduce the issue, since we don't have the same hardware. Next release of CoppeliaSim should include a new GUI that should be able to much better abstract the underlying hardware. In the mean time, we are always happy if you can report any success with current situation, if this ...

Hello,

it uses randomized approach, combined with an IK solving step approach:

First a random configuration is applied to the manipulator.
The distance between the end-effector and the target end-effector is computed
If the distance is below a threshold, then a linearization around the random ...

Hello,

we haven't tried ourselves, but you can generate something in a similar manner as with the CoppeliaSim "Notepad++ autocompletion" add-on:

MATLAB supports a functionSignatures.json file that provides rich IntelliSense for custom functions. For that, generate functionSignatures.json from ...

Hello,

To set the pose of an object in CoppeliaSim, you'd use sim.setObjectPose. You can also use sim.setObjectMatrix, sim.setObjectQuaternion or sim.setObjectOrientation (and sim.setObjectPosition).

Cheers

Hello,

being close to a singularity while using the IK functionality is never a good idea, since this will indeed result in an instable behaviour. You can somehow mitigate this by "pre-tensioning" the incriminated joint in the desired direction. Also adding damping and increasing the maximum number ...

Hello,

do you have any error message?
It seems you are mixing the legacy remote API (in your script attached to UR5) with the ZeroMQ remote API (your Python script). Just remove the script in your scene.

Then it is fine to handle IK on the Python side, but it would be better if you'd handle it on ...

Hello,

you say that nothing is being drawn on the cuboid.

• Can you draw onto e.g. the floor?
• Is the pen tip touching the cuboid?
• Is the cuboid detectable? (remember that the felt pen is using a proximity sensor to detect surfaces to draw onto)

Cheers

In your sysCall_sensing function, your measuredData is a local variable: logically it will be nil in function getMeasuredData.

Cheers