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Hexapod Simulation

Posted: 11 May 2020, 08:58
by haf24
Hello,
I have developed a C++ code that gives the joint angles of the hexapod as output and I have seen that there is a way to simulate how the robot would move using remote API. However, I don't know how remote API works and would appreciate some help to get started with it. What are the steps from where I am to seeing the actual simulation?

Thank you,
Hector

Re: Hexapod Simulation

Posted: 12 May 2020, 13:07
by coppelia
Hello,

if you have the C/C++ code, you have several possibilities. You could write a plugin that offers script functions to retrieve the joint values of your hexapod. With a plugin you do not have the communication overhead and slow-downs/delays as with a solution involving another process.

Or, as you suggested, you can use a client-server approach, where your C code would be the client and CoppeliaSim the server. In that case, you have several different possibilities (legacy remote API, B0-based remote API, ROS, ROS2, BlueZero, etc.). With the remote API for instance, you have functions that allow you to set the target angle of a given joint, e.g. with simxSetJointPosition.

Have a look at some of the examples located in programming/remoteApiBindings and/or programming/b0RemoteApiBindings.

Cheers

Re: Hexapod Simulation

Posted: 12 May 2020, 15:15
by haf24
Hello,
Thank you for you reply.

Do you have an example of a plugin or remote API for a hexapod? I have no previous experience with simulation and I not sure if I'll be able to write one myself.

Cheers