CoppeliaSim forums

Dear admin: Now, I want to express the formula of the joint angle \boldsymbol \theta as follow: \dot{\boldsymbol \theta}(t)=\boldsymbol J^\dagger (\dot{\boldsymbol p}_d(t)+\gamma (\boldsymbol p_d(t)-\boldsymbol p_a(t))) \label{tracking} . Unlike the DLS method form, ||\boldsymbol J\bigtriangleup {\b...

Thanks a lot for your guidance. I try it now away.

Best wishes.

ok, Thanks your reply. Now, I still have a lot doubt that I don't understand the process you have given above. Hello, the best would be to fork and modify the Coppelia kinematics routines , and its related CoppeliaSim IK plugin . Cheers --------------------------------- Have a look at the bottom par...

Are there any guidance documents? I am trying to add a user-defined IK method to imitate the build-in method, i.e, DLS.

Best Wishes.

Hello, admin

Now, I am trying to use the customed algorithm for IK control problem to replace with the build-in IK method DLS.

So, what are the key points of the process? i.e, the whole framework of the program, parameter setting, etc

Can you give me a hand?

Best Wishes.

Hello,

I want to save the variable data, which is related with the child script code in scene when it is running.
There is convenient to debug the program for me.

That is like the all generated variable data as showed when the code in matlab is runned.

Best Wishes.

Hello, admin

How to save all data after the child script code in scene runned？

Now, I want to save data after the child script code runs so as to check the code is correct.

Thanks a lot.

Best wishes!

HELLO, admin I am reproducing the manipulator motion controlled by the haptic device (Touch) through IK.cals(DLS) method in lastest software(V4.2), which is different from the previous version, but the result is not well. The main problem is whether the script code in the scene is correct? Can you g...

ok, thanks your reply. As scripts pointed out int the figure: https://vrep.oss-cn-shenzhen.aliyuncs.com/%E5%BE%AE%E4%BF%A1%E6%88%AA%E5%9B%BE_20220116182636.png?versionId=CAEQKhiBgIC4x9qJ8xciIDhkNWUxNTUzMTE1MDRmNDM4OGE4MWYxMzRjNjk4N2Fi Can the variables between two child scripts, as the picture showe...

Thank your prompt reply.
Why does the displayed trajectory disappear automatically？
Can it be retained?