CoppeliaSim forums

I have a 7Dof manipulator and want to follow some defined target points (as given by various path planners). However, if I calculate the (cartesian) target points and try to solve the inverse kinematics by calling simIK.findConfig, I get a random joint configuration taken from the infinite solutions...

Okay, so I think I got it running now. For anybody else reading this, here are some of my learned lessons: - The problem with the simIK.getTargetDummy error message was actually caused by using the wrong tip ! I used the same ikTip variable in simIK.addElementFromScene and simIK.generatePath, but th...

I have a manipulator robot and want to follow a straight line. The demo scene ikPathGeneration.ttt seems to provide an example for this, but I am struggling with some implementation issues when the code gets more complex. What I do: In sysCall_init(), I create the IK Environment, Group, and do simIK...

I am still struggling to set up a complete 8DoF manipulator arm with a force sensor in its base. The general setup is working, but the numbers I receive for the base force/torques seem to be wrong. I use a fully dynamic manipulator with position controllers. With the exception of the MuJoCo armature...

Ah, I see the point.
However, a hint for this in the documentation would be helpful, as there is not much for the proxy option, and the relative path requirement is not mentioned.

Anyway, thanks !

I have the strong suspicion that the 'proxy' option of sim.getObject doesn't work as intended - at least I can't get it to work. I have a scenario with two robots '/R' (6DoF) and '/R_alt' (8DoF). I try now to get the number of joints attached to the robots by using a loop calling robotBase=sim.getOb...

I found the settings now. I had to:
- Select the joint
- Open the scene Object properties
- Open the Dynamic properties dialog
- There is an "engine properties" button to access the joint-specific settings

Yeah, I noticed that there is the recommendation to use a high armature for the MuJoCo engine (a value of ~20 is mentioned in another thread). How do I actually access this parameter ? I checked Simulation settings/Engine properties, but the armature is not there (and should probably refer to a spec...

I tried the different physics engines: - Bullet and ODE show a wobble when using the force sensor - Vortex needs a license - MuJoCo seems to have a problem with the dynamics controller, as the robot gets into a swinging state during motion and doesn't reach the target. The force sensor stays rigid, ...

I have a problem with a force sensor that acts as a wobbly spring joint, so I assume I do something wrong. The scenario is a heavy manipulator moving around as a dynamic model. I want to get the forces and torques at the base, so I included a force sensor between the base and the first robot joint. ...