CoppeliaSim forums

Posted: **13 Jan 2022, 10:49**

Hello,

Today when I launched CoppeliaSim, I noticed a lot of changes.
Example:
1) Path is a dummy object now and can be edited directly within the scene window (no need to go to edit path toolbar)
2) Joint IK mode is completely gone.

I would like to follow a path, earlier it was possible through (putting joints in hybrid IK mode)--

Code: Select all

--Function Initialization:
threadFunction=function()
while true do
sim.followPath(target, path, 1, posOnPath, v, 0)
end
end

--Initialization of parameters:
path=sim.getObjectHandle('Path')
target=sim.getObjectHandle('Target')
pathLength=sim.getPathLength(path)
posOnPath=0 -- varies between 0 (start) and pathLength (end)
v=0.3 -- velocity of the movement on the path (0.025m/s)

res,err=xpcall(threadFunction,function(err) return debug.traceback(err) end)
if not res then
	sim.addStatusbarMessage('Lua runtime error: '..err)
end

Now I am getting an error

[C]: in function 'simGetPathLength'
[string "Target@childScript"]:11: in function 'sim_code_function_to_run'

Not sure how I can accomplish that now

Any help is appreciated.

Thank You.

Posted: **13 Jan 2022, 12:27**

Never mind.

Got it. Need to define the IK in a script now.

Posted: **13 Jan 2022, 14:40**

Hello,

yes, correct. You will see that defining functionality within a script (and not via the GUI) makes everything easier and faster in the long run. And also much more scalable. But if you really need, you can still temporarily enable old dialog items by setting showOldDlgs = true in system/usrset.txt.

Cheers

Posted: **11 Feb 2022, 20:15**

Hi all, I would also like to add that I could not find the button to turn on/off to start an object's dynamics in sleep mode (in the dynamics dialog) until I used the flag showOldDlgs = true. Thank you for the solution!

Posted: **15 Feb 2022, 07:31**

in CoppeliaSim V4.3.rev4+, you'll be able to do, e.g.:

Code: Select all

function sysCall_init()
    h=sim.getObject('.')
    sim.setObjectInt32Param(h,sim.shapeintparam_sleepmodestart,1)
end

Cheers

CoppeliaSim forums

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