cpp-interface-coppeliasim-zmq

A DQ Robotics interface based on the ZeroMQ remote API to connect with CoppeliaSim. This API provides more functionalities than the legacy remote API (the one used by the DQ Robotics interface).

	SO	Status (C++17)
	macOS
	Ubuntu {22.04, 24.04} LTS
	Windows 11

Instructions for Developers

Basic requirements (for C++ users)

• MacOS users require Homebrew

• Windows users require vcpkg (C:\vcpkg)

  If you do not have vcpkg:

cd C:/
git clone https://github.com/microsoft/vcpkg.git
cd vcpkg; .\bootstrap-vcpkg.bat
.\vcpkg.exe integrate install

• Download and install CoppeliaSim ≥ v4.7.0-rev0 (Use CoppeliaSim arm64 for Apple Silicon Macs)

Install DQ Robotics for C++

Skip these steps if you already have DQ Robotics installed.

MacOS (Apple Silicon)

brew install eigen

git clone https://github.com/dqrobotics/cpp.git
cd cpp
mkdir build && cd build
cmake ..
make -j16
sudo make install

Ubuntu

sudo add-apt-repository ppa:dqrobotics-dev/development -y
sudo apt-get update
sudo apt-get install libdqrobotics

Windows

Instructions missing here!

Additional requirements:

MacOS (Apple Silicon)

brew install pkg-config cppzmq eigen boost

Ubuntu

sudo apt install libzmq3-dev libboost-all-dev

Windows

Required vcpkg packages:

.\vcpkg install cppzmq
.\vcpkg install boost-format

Build and Install (UNIX)

Example for coppeliasim-v4.8.0-rev0. Note: ⚠️ replace coppeliasim-v4.8.0-rev0 with your CoppeliaSim version (≥ v4.7.0-rev0).

git clone https://github.com/dqrobotics/cpp-interface-coppeliasim-zmq.git --recursive
cd cpp-interface-coppeliasim-zmq/submodules/zmqRemoteApi
git checkout coppeliasim-v4.8.0-rev0
cd ../.. 
mkdir build && cd build
cmake ..
make -j16
sudo make install

Additional step for Ubuntu users:

sudo ldconfig

To Uninstall

Go to the build folder, and run:

sudo xargs rm < install_manifest.txt

Build and Install (Windows)

Run powershell as administrator:

mkdir build
cd build
cmake -DCMAKE_TOOLCHAIN_FILE=C:/vcpkg/scripts/buildsystems/vcpkg.cmake ..
cmake --build . --config Release
cmake --install .

Example (Find more examples here)

1. Open CoppeliaSim. (You do not need to load a specific scene).
2. Run and enjoy!

#include <dqrobotics/DQ.h>
#include <dqrobotics/interfaces/coppeliasim/DQ_CoppeliaSimInterfaceZMQExperimental.h>

using namespace DQ_robotics;
using namespace Eigen;


int main()
{
    auto vi = std::make_shared<DQ_CoppeliaSimInterfaceZMQExperimental>();
    vi->connect();

    //To enable experimental methods
    // Load the models only if they are not already on the scene.
    vi->load_from_model_browser("/robots/non-mobile/UR5.ttm", "/UR5");
    vi->load_from_model_browser("/other/reference frame.ttm", "/Current_pose");
    vi->load_from_model_browser("/other/reference frame.ttm", "/Desired_pose");


    auto jointnames = vi->get_jointnames_from_parent_object("/UR5");
    vi->set_joint_modes(jointnames, DQ_CoppeliaSimInterfaceZMQExperimental::JOINT_MODE::DYNAMIC);
    vi->set_joint_control_modes(jointnames, DQ_CoppeliaSimInterfaceZMQExperimental::JOINT_CONTROL_MODE::VELOCITY);
    vi->enable_dynamics(true);
    vi->set_engine(DQ_CoppeliaSimInterfaceZMQExperimental::ENGINE::MUJOCO);
    vi->set_simulation_time_step(0.05);
    vi->set_stepping_mode(true);
    vi->draw_trajectory(jointnames.back(), 2, {1,0,1}, 1000);

    vi->start_simulation();


    auto qd = (VectorXd(6)<< 0.5, 0.5, 0.5,0.5,0.5,0.5).finished();
    auto q = vi->get_joint_positions(jointnames);
    VectorXd error = qd-q;
    double k = 0.1;

    double epsilon = 0.1;

    while (error.norm() > epsilon)
    {
        q = vi->get_joint_positions(jointnames);
        error = qd-q;
        auto u = k*error;
        vi->set_joint_target_velocities(jointnames, u);
        vi->trigger_next_simulation_step();
        std::cout<<"error: "<<error.norm()<<std::endl;
    }
    vi->stop_simulation();
}

add_executable(${CMAKE_PROJECT_NAME} main.cpp)
target_link_libraries(${CMAKE_PROJECT_NAME}
                      dqrobotics
                      dqrobotics-interface-coppeliasim-zmq)