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I encountered the following error: “in sim.genericFunctionHandler: Found invalid joint handle.” The IK plugin creates a copy of the simulated environment, so you will have the "sim" world, and the "IK" world which uses a different set of handles. Most of the simIK functions use ...

Yes it is possible.

Start and goal states are specified with simOMPL.setStartState and simOMPL.setGoalStates or related functions.

OMPL plugin is shipped with CoppeliaSim, file is called libsimOMPL.so/libsimOMPL.dylib/simOMPL.dll

simply output more spheres :)

ideally you should output at least 1 sphere every unit of distance equal to sphere's radius... even more to get a more uniform look.

drawing objects are the fastest way if you don't need dynamics.

sim.getJointForce returns a float already.

Perhaps you have some error in your code.

In the ObjectTracking example in coppeliasim, the sensor script generates a bounding box around the identified object. How do I make the bounding box into a circle/ellipse? yes, change: cv.rectangle(maskdbg, (x, y), (x+w, y+h), (0, 255, 0), 2) to some different drawing instruction.

If you know the whole joint trajectory in advance you can pre-compute perfect velocity acceleration etc. The problem of estimating velocity is so only if you want to do it in realtime (i.e. without knowing future values) then you can only estimate left derivative which is always "late" wit...

That's normal.
Plugins are not loaded on startup anymore (probably since V4.5.1). Instead, are loaded on demand, by loadPlugin() or by lua modules (e.g. typically, simFoo.lua will loadPlugin('simFoo') if "Foo" is a plugin).

NandanUmrikar wrote: ↑18 Mar 2024, 11:08

Code: Select all

--lua
    sim.setObjectPose(simTarget, {-k * centerX, k * centerY, 0, 0, 0, 0, 1}, simTip)

you are setting position of simTarget relative to simTip's reference frame.

Probably you need to set a larger buffer size in the graph dialog.