Errors when using simIK in MATLAB via the ZeroMQ remote API

[nvdien]

Hi,

I use simIK to calculate inverse kinematics for the ABB YuMi robot. Here is the snippet of code where I encountered errors:

Code: Select all

handles.base = sim.getObject('/YuMi');

handles.leftTip = sim.getObject('./leftTip');
handles.leftTarget = sim.getObject('./leftTarget');

%% Inverse Kinematics
ikEnv = simIK.createEnvironment();
ikGroup = simIK.createGroup(ikEnv);

simIK.addElementFromScene(ikEnv, ikGroup, handles.base, handles.leftTip, ...
    handles.leftTarget, simIK.constraint_pose);

(handles is a structure array in MATLAB.)

This is my scene hierarchy:



Here are the errors I got in MATLAB:

Code: Select all

Error using cell2struct
Field names must be non-empty character vectors or string scalars.

Error in cbor.decode (line 143)
                o = cell2struct(v, n, 2);

Error in cbor.decode (line 122)
                    [o{i}, d1] = cbor.decode(d1);

Error in cbor.decode (line 137)
                    [v{i}, d1] = cbor.decode(d1);

Error in RemoteAPIClient/call (line 99)
            resp = cbor.decode(resp_raw);

Error in indexing (line 39)
                    varargout = self.x__client.call(fn, args);

Error in main (line 36)
simIK.addElementFromScene(ikEnv, ikGroup, handles.base, handles.leftTip, ...

I've searched Google but haven't found anything, so I'm posting here to seek your help.

Best,
Dien