Search found 8982 matches

by coppelia
12 Nov 2021, 15:11
Forum: General questions
Topic: Calculating Jacobian matrix
Replies: 1
Views: 4903

Re: Calculating Jacobian matrix

Hello, since CoppeliaSim V4.2.0, you should create IK tasks via the API: this is quite straightforward, and gives you much more flexibility, also allowing to debug problems faster. This means that all FK/IK related functionality now is handled via the kinematics plugin , which exports API functions ...
by coppelia
11 Nov 2021, 08:17
Forum: General questions
Topic: Matlab and CoppeliaSim Communication for KUKA Youbot
Replies: 5
Views: 6489

Re: Matlab and CoppeliaSim Communication for KUKA Youbot

You should get an error. If you retrieve the error (simxGetLastErrors@matlab), it should tell you that the targetted object is not a joint. Try using object rollingJoint_fl instead. Additionally, make sure to remove the script attached to the youBot object, otherwise you will get conflicting signals...
by coppelia
11 Nov 2021, 08:12
Forum: General questions
Topic: Robot legs won't reach final position
Replies: 5
Views: 7229

Re: Robot legs won't reach final position

Hello, it seems that you are using too small masses/inertias, and/or the difference between connected masses/inertias is too large. Select all 4*2 leg elements that are respondable, then increase their mass by 4x. Now it should work, but the robot would slide on the floor. Now try to increase the in...
by coppelia
10 Nov 2021, 15:07
Forum: General questions
Topic: Misalignment of text on script
Replies: 4
Views: 7152

Re: Misalignment of text on script

Maybe try with other fonts. The problem is not directly linked with CoppeliaSim. Possibly linked with QScintilla (which CoppeliaSim uses), or your system.

Cheers
by coppelia
10 Nov 2021, 10:30
Forum: General questions
Topic: Matlab and CoppeliaSim Communication for KUKA Youbot
Replies: 5
Views: 6489

Re: Matlab and CoppeliaSim Communication for KUKA Youbot

Can you post your scene, and show the relevant code in Matlab where you try to move the robot?

Cheers
by coppelia
10 Nov 2021, 10:28
Forum: General questions
Topic: Robot legs won't reach final position
Replies: 5
Views: 7229

Re: Robot legs won't reach final position

Hello,

it is difficult to see what is really going on. Best is to post your scene. There could be several issues, e.g.:
  • wrong joint limits
  • bad masses/inertias
  • bad controller
  • contact with other objects, also invisible
  • etc.
Cheers
by coppelia
10 Nov 2021, 10:24
Forum: General questions
Topic: Quadcopter Dynamics
Replies: 1
Views: 4557

Re: Quadcopter Dynamics

Hello, best is to use a simple model of a rigid quadcopter. The simplest would be to use a 4 cylinders (inside of a compound shape) representing your 4 propellers. Then, there are a few API functions that you will have to use: sim.addForceAndTorque (applying a force and/or torque about the center of...
by coppelia
09 Nov 2021, 11:34
Forum: General questions
Topic: Matlab and CoppeliaSim Communication for KUKA Youbot
Replies: 5
Views: 6489

Re: Matlab and CoppeliaSim Communication for KUKA Youbot

Hello,

you will have to use the remote API or ROS to communicate with your Matlab client.

Cheers
by coppelia
09 Nov 2021, 11:31
Forum: General questions
Topic: Problem in robot control with UI
Replies: 4
Views: 4849

Re: Problem in robot control with UI

Hello, your coroutine will execute once then end. You need a loop, try with something like: function coroutineMain() while true do if index then if index==1 then index=nil Forward() end if index==2 then index=nil turnRight() end if index==3 then index=nil turnLeft() end else sim.switchThread() end e...
by coppelia
09 Nov 2021, 10:34
Forum: General questions
Topic: Misalignment of text on script
Replies: 4
Views: 7152

Re: Misalignment of text on script

Hello,

that is very strange. What platform are you using? Also, do all scripts look like that, or only those that you have edited?
Finally, you can try to change the font via file system/usrset.txt, and modifying the scriptEditorFont variable, e.g.:

Code: Select all

scriptEditorFont = Times
Cheers