Errors when using simIK in MATLAB via the ZeroMQ remote API
Posted: 01 Jun 2024, 12:18
Hi,
I use simIK to calculate inverse kinematics for the ABB YuMi robot. Here is the snippet of code where I encountered errors:
(handles is a structure array in MATLAB.)
This is my scene hierarchy:
Here are the errors I got in MATLAB:
I've searched Google but haven't found anything, so I'm posting here to seek your help.
Best,
Dien
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);
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, ...
Best,
Dien