Import file to CoppeliaSim

[adamg]

Hi,

I am just wondering for importing files into CoppeliaSim what is the best format to import? I am currently using object files, but wondering if there is a file format which can maintain material properties from the original CAD file such as mass for example ?

Thanks in advance

[coppelia]

Hello,

mesh-based exchange formats usually do not include properties such as mass, etc.
CoppeliaSim also has an URDF or SDF format import, which include all those properties too. You can reach those items with [Menu bar --> Modules --> Importers]

Otherwise, you can always try to write a simple exporter that matches CoppeliaSim's simple XML format.

Cheers

[adamg]

Thanks for the reply I will look into this!

[adamg]

Hi,

I have tried the methods above which is working quite well so thank you. But I am currently having one issue when I try to set values for the friction values in the vortex engine. When inputting through the URDF file import, it updates within the dialogs all of the values I have stated mass, moment of inertia etc. except for the friction coefficients in vortex. Why might this be?

Code: Select all

<?xml version="1.0" ?>
<robot name="cube.urdf">
  <link name="baseLink">
    <inertial>
      <origin rpy="0 0 0" xyz="0.02 0.02 0.02"/>
       <mass value=".173"/>
       <inertia ixx="0.000046080" ixy="0" ixz="0" iyy="0.00004608" iyz="0" izz="0.00004608"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="C:\Users\adamg\Desktop\AdamThesisWork\Test Parts\40mm_ABS_cube.obj" scale=".001 .001 .001"/>
      </geometry>
       <material name="Aluminium">
        <color rgba="0.82 0.84 0.86 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
	 	<mesh filename="C:\Users\adamg\Desktop\AdamThesisWork\Test Parts\40mm_ABS_cube.obj" scale=".001 .001 .001"/>
      </geometry>
    </collision>
    <dynamics>
      <material>
        <engines>
          <vortex>
            <primlinearaxisfriction>1.05</primlinearaxisfriction>
            <seclinearaxisfriction>1.05</seclinearaxisfriction>
          </vortex>
        </engines>
      </material>
    </dynamics>
  </link>
</robot>

Thanks as always

[coppelia]

You can't use vortex properties in a URDF file, or at least they will be ignored.
Have a look at the official URDF format, in particular the <link> element. There is no information about friction. You can however add friction information to the <collision> element. Then you'd have to modify the simExtURDF importer/exporter, to take that information into account.

Another option is to use CoppeliaSim's XML format. But you can't mix both XML formats, i.e. URDF and CoppeliaSim.

Another option is to handle a few items via an add-on, which could apply parameters such as friction via the sim.setEngineXXParam functions.

Cheers

[adamg]

Hi,

Thanks for the quick response. I am quite new to using the xml format. If I use CoppeliaSim's XML format, do I export it in through the URDF ? I have written a similar version using the instructions from (https://www.coppeliarobotics.com/helpFi ... Format.htm) but this doesn't import through the urdf import plug in.

Thanks

[coppelia]

No, for the CoppeliaSim XML format, you can do:

• Export: [Menu bar --> File --> Save scene as --> CoppeliaSim XML scene --> Simple (lossy, editable)...]
• Import: [Menu bar --> File --> Open scene...]

For a model, which is a subset of a scene, the procedure is similar. The easiest is to export a very simple scene to simple XML, then inspect the generated file. Almost all items are optional, but e.g. in your case, you'll need

Code: Select all

<dynamics>
    <material>
        <engines>
            <vortex>
                <primlinearaxisfriction>1.000000</primlinearaxisfriction>
            </vortex>
        </engines>
    </material>
</dynamics>

after the mesh definition, e.g. <primitive>

Cheers

[adamg]

Perfect, thanks for your help! Will try the solutions you have outlined.

[clucas69@hotmail.com]

I have a motion planning TTT already open. it has the following code

function fromCSV (s)
s = s .. ',' -- ending comma
local t = {} -- table to collect fields
local fieldstart = 1
repeat
-- next field is quoted? (start with `"'?)
if string.find(s, '^"', fieldstart) then
local a, c
local i = fieldstart
repeat
-- find closing quote
a, i, c = string.find(s, '"("?)', i+1)
until c ~= '"' -- quote not followed by quote?
if not i then error('unmatched "') end
local f = string.sub(s, fieldstart+1, i-1)
table.insert(t, (string.gsub(f, '""', '"')))
fieldstart = string.find(s, ',', i) + 1
else -- unquoted; find next comma
local nexti = string.find(s, ',', fieldstart)
table.insert(t, string.sub(s, fieldstart, nexti-1))
fieldstart = nexti + 1
end
until fieldstart > string.len(s)
return t
end
function file_exists(name)
local f=io.open(name,"r")
if f~=nil then io.close(f) return true else return false end
end
--- Check if a file or directory exists in this path
function exists(file)
local ok, err, code = os.rename(file, file)
if not ok then
if code == 13 then
-- Permission denied, but it exists
return true
end
end
return ok, err
end
function parseCSVFile(u, id)
-- Remove all previous objects
for i=numberofobj-1,1,-1 do
sim.removeObject(objhandles)
end
numberofobj = 1
local nodes={}
local data={}
local out=""
fname=simUI.getEditValue(ui, 1001)
if not exists(fname) then
out=string.format("Failed to find path.")
simUI.setLabelText(ui, 1003, out)
return nil
end
-- Import files.
local paramf = fname .. "obstacles.csv"
local dataf = fname .. "path.csv"
local nodesf = fname .. "nodes.csv"
local edgesf = fname .. "edges.csv"
-- Check if files exist.
--if not file_exists(dataf) then
--out=string.format("Failed to parse!<br>Could not find path:<br>%s",dataf)
--return nil
--end
--simUI.setLabelText(ui, 1003, out)
-- Now parse all nodes.
local i=1
local parsedLine={}
if file_exists(nodesf) then
for line in io.lines(nodesf) do
if not string.find(line, '#') and line:sub(1,1) ~= '' then
local parsedLine=fromCSV(line)
if (#parsedLine < 3) then
out=string.format("Error Parsing nodes %s: Data line %d only has %d length)<br>Raw:<br>%s",nodesf,i,#parsedLine,line)
simUI.setLabelText(ui, 1003, out)
return nil
end
local q={}
for j=1,#parsedLine,1 do
table.insert(q, tonumber(parsedLine[j]))
if (q[j]==nil) then
out=string.format("Failed to parse nodes %s!<br>Could not convert data line %d!<br> Raw Value=%s",nodesf,i,line)
simUI.setLabelText(ui, 1003, out)
return nil
end
end
nodes=q
i=i+1
-- Draw all nodes.
objhandles[numberofobj] = sim.createPureShape(2,16,{0.05,0,0},10,NULL)
sim.setObjectPosition(objhandles[numberofobj],-1,{q[2],q[3],0.0023})
sim.setShapeColor(objhandles[numberofobj],NULL,sim.colorcomponent_ambient_diffuse,{0,0,1})
sim.setObjectParent(objhandles[numberofobj],graphHandle,false)
numberofobj=numberofobj+1
end
end
end
-- Now parse all edges.
if file_exists(edgesf) then
for line in io.lines(edgesf) do
if not string.find(line, '#') and line:sub(1,1) ~= '' then
local parsedLine=fromCSV(line)
if (#parsedLine < 3) then
out=string.format("Error Parsing edges %s: Data line %d only has %d length)<br>Raw:<br>%s",edgesf,i,#parsedLine,line)
simUI.setLabelText(ui, 1003, out)
return nil
end
local q={}
for j=1,#parsedLine,1 do
table.insert(q, tonumber(parsedLine[j]))
if (q[j]==nil) then
out=string.format("Failed to parse edges %s!<br>Could not convert data line %d!<br> Raw Value=%s",edgesf,i,line)
simUI.setLabelText(ui, 1003, out)
return nil
end
end
-- Draw all edges.
if #nodes < q[1] or #nodes < q[2] then
out=string.format("Some nodes missing")
simUI.setLabelText(ui, 1003, out)
return nil
end
local difx = nodes[q[1]][2] - nodes[q[2]][2]
local dify = nodes[q[1]][3] - nodes[q[2]][3]
local midx = (nodes[q[1]][2] + nodes[q[2]][2]) / 2.0
local midy = (nodes[q[1]][3] + nodes[q[2]][3]) / 2.0
objhandles[numberofobj] = sim.createPureShape(0,16,{math.sqrt(difx ^ 2 + dify ^ 2),0.01,0},10,NULL)
sim.setObjectPosition(objhandles[numberofobj],-1,{midx,midy,0.0021})
sim.setObjectOrientation(objhandles[numberofobj],-1,{0,0,math.atan(dify / difx)})
sim.setShapeColor(objhandles[numberofobj],NULL,sim.colorcomponent_ambient_diffuse,{1,1,0})
sim.setObjectParent(objhandles[numberofobj],graphHandle,false)
numberofobj=numberofobj+1
end
end
end
-- Now parse all obstacles.
if file_exists(paramf) then
for line in io.lines(paramf) do
if not string.find(line, '#') and line:sub(1,1) ~= '' then
local parsedLine=fromCSV(line)
if (#parsedLine < 3) then
out=string.format("Error Parsing obstacles %s: Data line %d only has %d length)<br>Raw:<br>%s",paramf,i,#parsedLine,line)
return nil
end
local q={}
for j=1,#parsedLine,1 do
table.insert(q, tonumber(parsedLine[j]))
if (q[j]==nil) then
out=string.format("Failed to parse obstacles %s!<br>Could not convert data line %d!<br> Raw Value=%s",paramf,i,line)
simUI.setLabelText(ui, 1003, out)
return nil
end
end
-- Draw all obstacles.
objhandles[numberofobj] = sim.createPureShape(2,26,{q[3],0,0.03},10,NULL)
sim.setObjectPosition(objhandles[numberofobj],-1,{q[1],q[2],0.015})
sim.setObjectParent(objhandles[numberofobj],envHandle,false)
numberofobj=numberofobj+1
end
end
end
-- Now parse the path.
if file_exists(dataf) then
for line in io.lines(dataf) do
if not string.find(line, '#') and line:sub(1,1) ~= '' then
local parsedLine=fromCSV(line)
local q={}
for j=1,#parsedLine,1 do
table.insert(q, tonumber(parsedLine[j]))
if (q[j]==nil) then
out=string.format("Failed to parse path %s!<br>Could not convert data line %d!<br> Raw Value=%s",dataf,i,line)
simUI.setLabelText(ui, 1003, out)
return nil
end
if #nodes < q[j] then
out=string.format("Some nodes missing")
simUI.setLabelText(ui, 1003, out)
return nil
end
data[j] = {nodes[q[j]][2], nodes[q[j]][3]}
-- Draw path.
if j > 1 then
pathEdgeL[j-1] = math.sqrt((data[j][1] - data[j-1][1]) ^ 2 + (data[j][2] - data[j-1][2]) ^ 2)
local difx = nodes[q[j]][2] - nodes[q[j-1]][2]
local dify = nodes[q[j]][3] - nodes[q[j-1]][3]
local midx = (nodes[q[j]][2] + nodes[q[j-1]][2]) / 2.0
local midy = (nodes[q[j]][3] + nodes[q[j-1]][3]) / 2.0
objhandles[numberofobj] = sim.createPureShape(0,16,{pathEdgeL[j-1],0.02,0},10,NULL)
sim.setObjectPosition(objhandles[numberofobj],-1,{midx,midy,0.0022})
sim.setObjectOrientation(objhandles[numberofobj],-1,{0,0,math.atan(dify / difx)})
sim.setShapeColor(objhandles[numberofobj],NULL,sim.colorcomponent_ambient_diffuse,{0,0.5,0})
sim.setObjectParent(objhandles[numberofobj],graphHandle,false)
numberofobj=numberofobj+1
end
if j == 2 then pathPassedL[1] = pathEdgeL[1] end
if j > 2 then pathPassedL[j-1] = pathPassedL[j-2] + pathEdgeL[j-1] end
end
end
end
totalLength = pathPassedL[#pathEdgeL]
jointData=data
if #jointData <= 1 then
totalLength = 0.0
out=string.format("No available path")
else
out=string.format("Successfully parsed file!<br>File path = %s<br>Data count = %d",fname,i-1)
end
simUI.setLabelText(ui, 1003, out)
-- Begin and end nodes.
if #jointData > 0 then
objhandles[numberofobj] = sim.createPureShape(2,16,{0.05,0,0},10,NULL)
sim.setObjectPosition(objhandles[numberofobj],-1,{jointData[1][1],jointData[1][2],0.0024})
sim.setShapeColor(objhandles[numberofobj],NULL,sim.colorcomponent_ambient_diffuse,{0,0.5,0})
sim.setObjectParent(objhandles[numberofobj],graphHandle,false)
numberofobj=numberofobj+1
end
if #jointData > 1 then
objhandles[numberofobj] = sim.createPureShape(2,16,{0.05,0,0},10,NULL)
sim.setObjectPosition(objhandles[numberofobj],-1,{jointData[#jointData][1],jointData[#jointData][2],0.0024})
sim.setShapeColor(objhandles[numberofobj],NULL,sim.colorcomponent_ambient_diffuse,{1,0,0})
sim.setObjectParent(objhandles[numberofobj],graphHandle,false)
numberofobj=numberofobj+1
end
-- Initial position.
if #jointData > 0 then
applyJoints(jh, jointData[1])
end
end
end
function interpConfig(tinterp)
local t=totalLength/vel
local q={0,0}
local reset=nil
if totalLength == 0 then
q = jointData[1]
thetaangle = 0.0
elseif (t<tinterp) then
tinterp = t
reset = true
else
for n,leng in ipairs(pathPassedL) do
if tinterp*vel <= leng then
for i=1,#q,1 do
if n == 1 then
q=jointData[n] + ((jointData[n+1]-jointData[n])/pathEdgeL[n])*(tinterp*vel)
else
q=jointData[n] + ((jointData[n+1]-jointData[n])/pathEdgeL[n])*(tinterp*vel-pathPassedL[n-1])
end
end
thetaangle = math.atan((jointData[n+1][2]-jointData[n][2])/(jointData[n+1][1]-jointData[n][1]))
if jointData[n+1][1] < jointData[n][1] then
thetaangle = thetaangle - math.pi
end
break
end
end
end
return reset,q,thetaangle
end
function setTimeSliderValue(ui,t)
local fraction=t/totalLength*vel
simUI.setSliderValue(ui,4000,10000*fraction,true)
return
end
function playPressed(ui,id)
local out=nil
if not jointData then
out=string.format("WARN: No file loaded, cannot play!")
simUI.setLabelText(ui, 1003, out)
return
end
if (playbackStatus==status.stop) then
startTime=sim.getSimulationTime()
out=string.format("Playback started from beginning!")
simUI.setLabelText(ui, 1003, out)
playbackStatus=status.play
elseif (playbackStatus==status.pause) then
local tfrac=simUI.getSliderValue(ui,4000)/10000
startTime=sim.getSimulationTime()-tfrac*totalLength/vel
out=string.format("Playback resuming from pause!")
simUI.setLabelText(ui, 1003, out)
playbackStatus=status.play
end
end
function pausePressed(ui,id)
if (playbackStatus==status.play) then
out=string.format("Playback paused!")
simUI.setLabelText(ui, 1003, out)
playbackStatus=status.pause
end
end

function stopPressed(ui,id)
out=string.format("Playback stopped!")
simUI.setLabelText(ui, 1003, out)
playbackStatus=status.stop
setTimeSliderValue(ui, 0.0)
if jointData then
local reset,q,thetaangle = interpConfig(0.0)
applyJoints(jh,q)
sim.setJointPosition(jhx,thetaangle)
end
end
function stepPressed(ui,id)
local reset=nil
local q=nil
local tfrac=nil
local t=nil
local stepSize=nil
playbackStatus=status.pause
out=string.format("Step!")
simUI.setLabelText(ui, 1003, out)
tfrac=simUI.getSliderValue(ui,4000)/10000
--if (interpFlag) then
tfrac=tfrac+0.005
if (tfrac>=1.0) then tfrac=1.0 end
t=tfrac*totalLength/vel
reset,q,thetaangle = interpConfig(t)
--else
--stepSize=1./#jointData
--tfrac=(math.floor(tfrac/stepSize)+1)*stepSize + stepSize/2.
--if (tfrac>=1.0) then tfrac=0.0 end
--t=tfrac*(#jointData*nominalDT*(1/timeMult()))
--reset,q = interpConfig(jointData, t, (1/timeMult())*nominalDT)
--end
if jointData then
applyJoints(jh, q)
sim.setJointPosition(jhx,thetaangle)
end
setTimeSliderValue(ui, t)
end
function timeSliderChange(ui,id,newVal)
local t=nil
local reset=nil
local q=nil
local resumePlay=false
local out=""
if (jointData == nil) then
out=string.format("Need to open CSV file!")
simUI.setLabelText(ui, 1003, out)
simUI.setSliderValue(ui,4000,0,true)
return
end
if (playbackStatus==status.play) then
resumePlay=true
playbackStatus=status.pause
end
t=(newVal/10000)*totalLength/vel
reset,q,thetaangle = interpConfig(t)
if jointData then
applyJoints(jh, q)
sim.setJointPosition(jhx,thetaangle)
end
if (resumePlay) then
playPressed(ui,1006)
else
playbackStatus=status.pause
end
out=string.format("Time slider dragged to %3.2f percent",newVal/10000)
simUI.setLabelText(ui, 1003, out)
return
end
function decreaseSpeed(ui,id)
local resumePlay=false
if (playbackStatus==status.play) then
resumePlay=true
playbackStatus=status.pause
end
vel=vel-multStep
if (vel <= multStep) then vel=multStep end
if (resumePlay) then playPressed(ui,1006) end
local out=string.format("%6.2f",vel)
simUI.setEditValue(ui, 1006, out)
end
function increaseSpeed(ui,id)
local resumePlay=false
if (playbackStatus==status.play) then
resumePlay=true
playbackStatus=status.pause
end
vel=vel+multStep
if (resumePlay) then playPressed(ui,1006) end
local out=string.format("%6.2f",vel)
simUI.setEditValue(ui, 1006, out)
end
function parseEnteredSpeed(ui,id,newVal)
local q=tonumber(newVal)
local out=nil
local resumePlay=false
if (q==nil) then
out=string.format("Could not parse entered number!")
simUI.setLabelText(ui, 1003, out)
return
elseif (q<multStep) then
q=multStep
out=string.format("Minimum multiplier value is %3.2f!",multStep)
simUI.setLabelText(ui, 1003, out)
end
if (playbackStatus==status.play) then
resumePlay=true
playbackStatus=status.pause
end
vel=q
if (resumePlay) then playPressed(ui,1006) end
out=string.format("%6.2f",vel)
simUI.setEditValue(ui, 1006, out)
end
applyJoints=function(jointHandles, joints)
for i=1,#jointHandles,1 do
sim.setJointPosition(jointHandles[i],joints[i])
end
end
getJoints=function(jointHandles)
local angles={0,0}
for i=1,#jointHandles,1 do
angles[i]=sim.getJointPosition(jointHandles[i])
end
return angles
end
function closeEventHandler(h)
sim.addStatusbarMessage('Window '..h..' is closing...')
simUI.hide(h)
end
if (sim_call_type==sim.syscb_init) then
-- Check if we have a controller in the scene:
xml = [[<ui closeable="false" on-close="closeEventHandler" resizable="true">
<tabs>
<tab title="CSV Playback">
<group layout="vbox">
<label text="<big> Enter the folder path, ending with a slash/backslash:</big>" id="1000" wordwrap="false" style="font-weight: bold;"/>
<group layout="hbox">
<edit value="" id="1001" />
<button text="Open Files" on-click="parseCSVFile" id="2000" />
</group>
<label text="<big> Controls</big>" id="1005" wordwrap="false" style="font-weight: bold;"/>
<group layout="grid">
<button text="Play" on-click="playPressed" />
<button text="Pause" on-click="pausePressed" />
<button text="Stop" on-click="stopPressed" />
<button text="Step" on-click="stepPressed" />
<br/>
<label text="Time Multiplier" />
<button text="Increase" on-click="increaseSpeed" />
<button text="Decrease" on-click="decreaseSpeed" />
<edit id="1006" value="0.1" oneditingfinished="parseEnteredSpeed" />
</group>
<label text="Time" />
<hslider id="4000" tick-position="below" tick-interval="500" minimum="0" maximum="10000" on-change="timeSliderChange"/>
<label text="<big> Messages:</big>" id="1002" wordwrap="false" style="font-weight: bold;"/>
<group layout="vbox">
<label value="" id="1003" wordwrap="true" />
</group>
</group>
<stretch />
</tab>
</tabs>
</ui>]]
ui=simUI.create(xml)
-- get joints:
jh={-1,-1}
jh[1] = sim.getObjectHandle('World_x_joint')
jh[2] = sim.getObjectHandle('World_y_joint')
jhx = sim.getObjectHandle('World_theta_joint')
envHandle=sim.getObjectHandle('env')
graphHandle=sim.getObjectHandle('graph')
kilobotHandle=sim.getObjectHandle('KilobotD')
multStep=0.02
jointData={}
vel = 0.1
pathEdgeL={}
pathPassedL = {}
totalLength = 0.0
objhandles={}
numberofobj=1
fname=""
startTime=0.0
-- flags
status={stop=0, play=1, pause=2}
playbackStatus=status.stop
delayCount=0
delayRefCount=60
end
if (sim_call_type==sim.syscb_actuation) then
local t=0.0
local reset=nil
local q=nil
local thetaangle=0.0
if (playbackStatus==status.play) then
t=(sim.getSimulationTime()-startTime)
if (jointData) then
reset,q,thetaangle = interpConfig(t)
else
out=string.format("WARN: No file loaded, cannot play!")
simUI.setLabelText(ui, 1003, out)
end
if reset and #jointData > 0 then
if (delayCount>=delayRefCount) then
delayCount=delayCount+1
applyJoints(jh, jointData[1])
out=string.format("Animation reset!")
simUI.setLabelText(ui, 1003, out)
if (delayCount>=2*delayRefCount) then
delayCount=0
startTime=sim.getSimulationTime()
end
else
applyJoints(jh, jointData[#jointData])
out=string.format("CSV end!")
simUI.setLabelText(ui, 1003, out)
delayCount=delayCount+1
end
elseif (q) then
local pre = getJoints(jh)
applyJoints(jh, q)
sim.setJointPosition(jhx,thetaangle)
setTimeSliderValue(ui,t)
end
end
end
if (sim_call_type==sim.syscb_cleanup) then
simUI.destroy(ui)
end

I need to add three excel csv files to make the simulation work
file one edges
# edges.csv file for V-REP kilobot motion planning scene.
# All lines beginning with a # are treated as a comment and ignored.
# Each line below is of the form
# ID1 ID2 cost
# where ID1 and ID2 are the IDs of the nodes connected by the edge and
# cost is the cost of traversing that edge (in either direction).
12 11 0.214
12 10 0.3135
12 8 0.5014
11 10 0.1778
11 9 0.4454
10 7 0.2586
9 8 0.2005
9 6 0.2796
9 5 0.5994
8 4 0.48
7 4 0.3417
5 2 0.179
4 3 0.3517
4 2 0.2289
3 2 0.2169
3 1 0.2903
2 1 0.422
7 5 0.4402
5 4 0.11

File two nodes
# All lines beginning with a # are treated as a comment and ignored.
# Each line below has the form
# ID x y heuristic-cost-to-go
# where ID is the unique integer ID number of the node (1 through N)
# (x y) is the location of the node in the plane and heuristic-cost-to-go
# is an optimistic estimate of the path length from that node to the
# goal node as needed by A* search.
1 -0.5 -0.5 1.4142
2 -0.09 -0.4 1.0762
3 -0.285 -0.305 1.1244
4 0.0575 -0.225 0.8494
5 -0.0525 -0.0175 0.7604
6 -0.37 0.3 0.8927
7 0.3525 -0.0525 0.5719
8 0.0625 0.255 0.5014
9 -0.1 0.3725 0.6134
10 0.4275 0.195 0.3135
11 0.345 0.3525 0.214
12 0.5 0.5 0

File three obstacles
# obstacles.csv file for V-REP kilobot motion planning scene.
# All lines beginning with a # are treated as a comment and ignored.
# Below is a specification of a set of cylindrical obstacles in the form
# x y diameter
# where (x y) is the center of the cylinder and diameter is its diameter.
-0.285 -0.075 0.33
0.365 -0.295 0.27
0.205 0.155 0.15

file four path
# path.csv file for V-REP kilobot motion planning scene.
# All lines beginning with a # are treated as a comment and ignored.
# Below is a solution path represented as a sequence of nodes of the graph.
1 3 4 7 10 12


How do I get these files into coppeliasimedu do simulate the required simulation