CoppeliaSim forums

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

Hello, in the very first simulation step, before the physics engine is even called, there is no dynamic state. And in that case, the function will return None . The easiest solution would be to skip the very first simulation step in your sysCall_actuation function. Cheers Edit: actually, we will cha...

For hydraulic cylinders, I'd use prismatic joints in position control mode.

If you need anything more fancy, then use a custom control mode, and write your own controller for that (via a joint callback function).

Cheers

Can you provide a minimalistic Python client code that would trigger that error? (maybe with a related minimalistic scene)

Cheers