How to calculate distance between mannequin and UR5?

[w1574587]

I drag the mannequin and UR5 model into the scene, and set them measurable, add new distance object (Shape: UR5 - All other entities). Start simulation and nothing happen. How to calculate distance between mannequin and UR5? How to read the distance in MATLAB?

BTW I did successfully get the distance between (Shape: UR5_link7_visible - Shape: Group15) in MATLAB.

[coppelia]

Hello,

if you want to get the distance between several objects considered as a single entity, then use collections.
So create a collection that contains your UR5 objects, then you can check distance with:

Code: Select all

sim.checkDistance(collectionHandle,sim.handle_all)

Cheers

[w1574587]

Many thanks!