CoppeliaSim forums

Hello, to send data over to CoppeliaSim, simply call sim.callScriptFunction and make sure you have an appropriate script function in the Lua script to receive and process the data. Also make sure that the script is initialized at the time it is called from MATLAB. By the way, I hope the frequency of...

Hello, if you want to control a joint or kinematic chain in 3D space instead of joint space, then you should use inverse kinematics (IK) . In your case, if you want a joint to follows a specific 3D point, try with this exercise: Make sure your joint (for now) is in kinematics mode attach it to an ob...

If you want to understand IK, then best would be to read/follow this section , in particular that one . This tutorial about IK is also available. You can also very easily set up IK by doing following: Start with a raw model, e.g. Models/robots/non-mobile/7 DoF manipulator.ttm If it has a script atta...

The legacy remote API is deprecated. We highly recommend to switch to the ZeroMQ remote API , which is now de facto the default remote API. With the legacy remote API, there was never simRemoteApi.start(19999) in the main script. But in any case, you can call simRemoteApi.start from wherever you wan...

From first tests, it appears that sim.loadScene is the culprit. This bug somehow also happens with sim.loadModel. A first workaround would be to avoid constantly reloading the same scene/model: after a simulation stop, the scene should anyways be mostly restored to its original state (i.e. just befo...

Hello, I am not sure I understand your problem... if I understand you correctly, you are trying to use the ZeroMQ remote API via MATLAB, but that doesn't work. What is the problem? Is there any error message? What CoppeliaSim version are you running? What kind of relative code in the main script are...

Hello, have a look at the demo scene scenes/mujoco/stringsRopesClothsAndSoftBodies.ttt : Following are the steps required: Create a prismatic joint Create 2 dummies In the dummy dialog , set the dummy type to Dynamic, tendon constraint Set the linked dummy to the other dummy Click Engine properties ...

Thanks, with that I can reproduce the bug. Need to investigate more...

Cheers

Hello,

there are several functions related to 3D transformations you could use. But best is probably to use sim.getRotationAxis. Make sure to also read the section on positions, orientations and transformations.

Cheers

Hello,

the Asti robot is inspired by Asimo, the humanoid robot from Honda. Asti does not exist in real.

Cheers