Question about Feature "RRS Interface and Motion Libraray"

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jianye
Posts: 46
Joined: 16 Oct 2019, 13:58

Question about Feature "RRS Interface and Motion Libraray"

Post by jianye »

Hi,

i read the Feature introduction in the homepage and interested in the RRS Interface And Motion Library.

But when click this feature i didn't find anything about the feature which I can use in my coppeliasim environment.

I want to know, is there any tutorial that i can use to simulate my trajestory with this RRS interface ? (or how can I simulate a robot controller in Coppelia ?)

thanks

Jian

coppelia
Site Admin
Posts: 10339
Joined: 14 Dec 2012, 00:25

Re: Question about Feature "RRS Interface and Motion Libraray"

Post by coppelia »

Hello Jian,

the RRS-1 interface specification was implemented via a plugin. The plugin exports the RRS-1 commands to the Lua scripts. So if you are familiar with RRS-1 and its commands, then the commands translate 1-to-1 to the Lua commands, e.g.

TERMINATE --> simRRS1.TERMINATE
RESET --> simRRS1.RESET
etc.

Then there are a few helper API commands that are used to set-up things, e.g.:

simRRS1.startRcsServer
simRRS1.selectRcsServer

There is a small example scene that illustrates how to start-up things: scenes/RRS-1 demo.ttt

The above scene also includes conversion functions between various types (e.g. CoppeliaSim matrix and RRS Frame, etc.)

Cheers

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