CoppeliaSim forums

Hello,

if the joint in motor mode you should use sim.setJointTargetPosition rather than sim.setJointPosition.

How is this done? I want to do something similar for models of my own but all I can see within the khepera's script is a reference to a UI object named "K3_stateVisualization". I can't see that object in the hieracrhy anywhere. Those old-style UIs are deprecated, because they don't offer ...

time_1 is nil because the condition distance_1 < 0.9 is false.

Fix the logic of your program. For example check that both variables are not nil:

I tested sim.setJointPosition and it works fine also in a ROS callback.

If your joint doesn't move, you have research the cause in the joint mode and the resulting behaviour. Make sure to read and understand Joint types and operation.

You can add a drawing object with sim.addDrawingObject and fill with items via sim.addDrawingObjectItem as the robot passes around.

Check also what types of drawing objects you can add.

zdenoB wrote: ↑31 Oct 2019, 08:01 ldd "$dirname/libv_rep.so" #replace libv_rep.so with the library that is having difficulties to load

but I don't know the name of Library behind CodeEditor.

libv_repExtCodeEditor.so

It can be done at least in two ways:

• by creating a path object (check sim.createPath and sim.insertPathCtrlPoints);
• by creating a drawing object, with sim.addDrawingObject and sim.addDrawingObjectItem.

Path smoothing (while maintaining path validity) can only be performed by OMPL via PathSimplifier::smoothBSpline which currently not integrated in the plugin but you could try to modify the plugin code ( v_repExtOMPL/plugin.cpp ), calling the function PathSimplifier::smoothBSpline in void simplifyPa...

Not really understanding, sorry. But in V-REP you don't have lasers. What you can do is to use proximity sensors or vision sensors to simulate some of the properties of rays of light. Then you can create drawing objects ( sim.addDrawingObject ) to give a visual feedback (proximity sensors already do...

Hello,

you can change the gravity in the general dynamics properties.

You can also change gravity programmatically via sim.setArrayParameter(sim.arrayparam_gravity,{gx,gy,gz}).

Alternatively, you can apply forces/torques to objects via sim.addForce and sim.addForceAndTorque.