Search found 5742 matches
- 04 Apr 2024, 14:21
- Forum: Feature requests
- Topic: VHACD -> CoACD?
- Replies: 1
- Views: 281
Re: VHACD -> CoACD?
Hello, you can already use CoACD with following Python script (e.g. as a CoppeliaSim embedded script): # python import numpy as np import coacd def getConvexDecomposed(shapeHandle): p = sim.getObjectPose(shapeHandle) vertices, indices, normals = sim.getShapeMesh(shapeHandle) vertices = sim.multiplyV...
- 03 Apr 2024, 16:19
- Forum: General questions
- Topic: Attach a gripper to a robotic arm
- Replies: 8
- Views: 7591
Re: Attach a gripper to a robotic arm
Hello, at some point, you need to decide about where the attachment frames (or poses) are, relative to your end-effector, and relative to your tools. There is no need for physical objects (e.g. dummies) acting as attachment frames, you could simply have that info in some data base. But that gets mes...
- 03 Apr 2024, 08:58
- Forum: Bug reports
- Topic: ZMQ remote API failing after the same amount of runs of a simulation
- Replies: 7
- Views: 4060
Re: ZMQ remote API failing after the same amount of runs of a simulation
Hello again,
the bug has been identified and will be fixed for CoppeliaSim V4.7, out within a few weeks.
Thanks for reporting it!
Cheers
the bug has been identified and will be fixed for CoppeliaSim V4.7, out within a few weeks.
Thanks for reporting it!
Cheers
- 02 Apr 2024, 08:51
- Forum: General questions
- Topic: An error when using simIK.findConfig
- Replies: 2
- Views: 105
Re: An error when using simIK.findConfig
Hello, you are mixing up the IK and the CoppeliaSim worlds: the IK world has its own set of handles. The IK world might reflect the CoppeliaSim world structurally (i.e. both kinematic chains in the IK and CoppeliaSim world are identical), but handles are distinct. You can find out about a handle's c...
- 02 Apr 2024, 08:21
- Forum: General questions
- Topic: Collision avoidance/detection in chain
- Replies: 1
- Views: 335
Re: Collision avoidance/detection in chain
Hello, if you are talking about collision response (versus collision detection ), then indeed, the respondable mask is what you should look at. Make sure that two consecutive respondable shapes have a respondable mask that results in zero, when AND-combined (AND binary operator). Since the shapes al...
- 02 Apr 2024, 08:06
- Forum: General questions
- Topic: how to send data from matlab to CoppeliaSim
- Replies: 1
- Views: 452
Re: how to send data from matlab to CoppeliaSim
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...
- 02 Apr 2024, 07:59
- Forum: General questions
- Topic: Using Joint target position with Python Coppelia API binding
- Replies: 2
- Views: 1448
Re: Using Joint target position with Python Coppelia API binding
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...
- 02 Apr 2024, 07:35
- Forum: General questions
- Topic: inverse kinematics in v4.6.0
- Replies: 1
- Views: 1163
Re: inverse kinematics in v4.6.0
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...
- 02 Apr 2024, 07:28
- Forum: General questions
- Topic: Can not be remote with MATLAB on Mac
- Replies: 3
- Views: 3175
Re: Can not be remote with MATLAB on Mac
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...
- 02 Apr 2024, 06:19
- Forum: Bug reports
- Topic: ZMQ remote API failing after the same amount of runs of a simulation
- Replies: 7
- Views: 4060
Re: ZMQ remote API failing after the same amount of runs of a simulation
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...