Assistance with Remote API for Robot Control in CoppeliaSim

[Levileo]

Dear Admin,

I am new to using CoppeliaSim and have encountered an issue with the remote API. In CoppeliaSim, I used the following code to control the robot:

Code: Select all

sim.rmlMoveToJointPositions(jointHandles, -1, currentVel, currentAccel, maxVel, maxAccel, maxJerk, targetPos3, targetVel)

However, when I tried implementing this in my Python code, I received error messages. As a temporary solution, I have been using simxSetJointTargetPosition, but it causes the gripper to move differently than expected.

Could you please advise on how to properly replicate the behavior of sim.rmlMoveToJointPositions in Python?

Thank you for your assistance.

Sincerely,
Levileo

[coppelia]

Hello,

first of all, make sure to use the ZeroMQ remote API, which is much simpler and more flexible than the legacy remote API that is deprecated since a couple of years.

Then, have a look into the Python example script located at programming/zmqRemoteApi/clients/python/simpleMovement.py. In there, look how the function moveToConfig works.

Cheers

[Levileo]

Thanks a lot! I have updated my V-rep from 3.6.1 to the version 4.7.0 and I got a few questions.
How could I configure a tip-following path in the new version since the calculation module and IK module is deprecated. Is there any tutorial for new IK configuration?

[coppelia]

Have a look again at the example I pointed out: while the target motion for the green robot is controlled from Python, the IK for that robot is handled by the script attached to that robot.

Otherwise there are plenty of simple example scene related to IK in scenes/kinematics/

Cheers