What API function can replace sim.getScriptSimulationParameter and sim.setScriptSimulationParameter?

[Asakusa_Hakase]

Hello

I am trying below youtube tutorial.
https://www.youtube.com/watch?v=vRi2Up0yfyk&t=1511s

This tutorial is used V-rep Verision.
I wrote the program shown at 35 minutes and 59 seconds of this video.

I can not find "sim.getScriptSimulationParameter" and "sim.setScriptSimulationParameter" in script of Coppelia.
Where can I find API functions to replace the above two API functions?

Cheers

[coppelia]

Hello,

please use following API functions instead:

• sim.writeCustomDataBlock
• sim.readCustomDataBlock
• sim.setUserParameter
• sim.getUserParameter

Cheers

[Asakusa_Hakase]

Hello Coppelia

Thanks for the replay.
Below is the program I wrote.

Code: Select all

function sysCall_init()

    arm=sim.getObjectHandle("Arm_actuator")
    crab=sim.getObjectHandle("Crab_actuator")
    hoist=sim.getObjectHandle("Hoist_actuator")
    suction=sim.getScriptHandle("suctionPad")



        xml = [[
<ui title="Floor Customizer" closeable="true" on-close="closeEventHandler" resizable="false" activate="false">
    <group layout="form" flat="true">
        <label text="Arm speed (rad/s): 0.00" id="1"/>
        <hslider tick-position="above" tick-interval="1" minimum="-10" maximum="10" on-change="actuateArm" id="2"/>
        <label text="Crab speed (m/s): 0.00" id="3"/>
        <hslider tick-position="above" tick-interval="1" minimum="-10" maximum="10" on-change="actuateCrab" id="4"/>
        <label text="Hoist speed (m/s): 0.00" id="5"/>
        <hslider tick-position="above" tick-interval="1" minimum="-10" maximum="10" on-change="actuateHoist" id="6"/>
        <label text="Magnet" id="7"/>
        <button text="deactivated" on-click="actuateMagnet" checkable="true" id="8"/>
    </group>
    <label text="" style="* {margin-left: 400px;}"/>
</ui>
]]
        ui=simUI.create(xml)
end

function actuateArm(ui,id,newVal)
    local val = 0.02*newVal
    sim.setJointTargetVelocity(arm,val)
    simUI.setLabelText(ui,1,string.format("Arm speed (rad/s): %.2f",val))
end

function actuateCrab(ui,id,newVal)
    local val = 0.15*newVal
    sim.setJointTargetVelocity(crab,val)
    simUI.setLabelText(ui,3,string.format("Crab speed (m/s): %.2f",val))
end

function actuateHoist(ui,id,newVal)
    local val = 0.25*newVal
    sim.setJointTargetVelocity(hoist,val)
    simUI.setLabelText(ui,5,string.format("Hoist speed (m/s): %.2f",val))
end

function actuateMagnet(ui)
    local state = sim.getUserParameter(suction,"active","true")
    if state then
        sim.setUserParameter(suction,"active","false")
        simUI.setButtonText(ui,8,"deactivated")
    else
        sim.setUserParameter(suction,"active","true")
        simUI.setButtonText(ui,8,"activated")
    
    end
end

My scene can download below URL .
https://drive.google.com/file/d/1RR9P7R ... sp=sharing

I replaced sim.getScriptSimulationParameter and sim.setScriptSimulationParameter to sim.setUserParameter and sim.getUserParameter.

But, I get an error in function actuateMagnet(ui).
I guess, Is the double quotation in the wrong position?
Honestly, I don't know what double quotation means and using of sim.setUserParameter and sim.getUserParameter.

I'm sorry for the inconvenience, can you confirm this for me?

cheers

[coppelia]

What kind of error message do you get?

The functions I mentioned are of course not directly compatible with sim.getScriptSimulationParameter / sim.setScriptSimulationParameter. Use either one set of functions, or the other. But do not expect sim.getUserParameter to read parameters written with sim.setScriptSimulationParameter. This also means the suctionCup code needs to be adapter.

Of course you could continue to use sim.getScriptSimulationParameter / sim.setScriptSimulationParameter: those functions are deprecated, but still working.

Cheers