Hi Mushtariy,
I do not have much knowledge on your query but I can provide you some steps to get you started, hope they help.
- The SpaceMouse typically provides six degrees of freedom (DOF) input: three for translation (X, Y, Z) and three for rotation (pitch, yaw, roll). These inputs are usually given as relative changes from a neutral position (0, 0, 0 for translation and 0, 0, 0 for rotation).
- The raw input values from the SpaceMouse are often not directly usable as they might be too large or too small. You will need to scale these values appropriately.
- You will need to maintain the current position and orientation of the end effector and update it based on the scaled input from the SpaceMouse.
Here's a sample MATLAB code that you can utilize:
% Initialize current position and orientation of the end effector
currentPosition = [0, 0, 0]; % [x, y, z]
currentOrientation = [0, 0, 0]; % [pitch, yaw, roll]
% Scaling factors for translation and rotation
translationScale = 0.001; % Adjust this as needed
rotationScale = 0.001; % Adjust this as needed
% Function to update end effector position based on SpaceMouse input
function updateEndEffector(spaceMouseInput)
global currentPosition;
global currentOrientation;
% Extract translation and rotation inputs
translationInput = spaceMouseInput(1:3); % [x, y, z]
rotationInput = spaceMouseInput(4:6); % [pitch, yaw, roll]
% Scale the inputs
translationDelta = translationInput * translationScale;
rotationDelta = rotationInput * rotationScale;
% Update the current position and orientation
currentPosition = currentPosition + translationDelta;
currentOrientation = currentOrientation + rotationDelta;
% Update the simulation (CoppeliaSim) with the new position and orientation
% Assuming you have a function to send these values to CoppeliaSim
sendToCoppeliaSim(currentPosition, currentOrientation);
end
% Dummy function to simulate sending data to CoppeliaSim
function sendToCoppeliaSim(position, orientation)
% This function should contain the code to update the simulation
% For example, using remote API commands
disp('Position:');
disp(position);
disp('Orientation:');
disp(orientation);
end
% Example usage
% Assuming spaceMouseInput is a 1x6 vector obtained from the SpaceMouse
spaceMouseInput = [0.5, -0.2, 0.1, 0.01, -0.02, 0.03];
updateEndEffector(spaceMouseInput);
Important things to note:
- You may need to experiment with the scaling factors to find values that provide smooth and intuitive control.
- Ensure that you have the necessary functions to communicate with CoppeliaSim.
