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CoppeliaSim-Simulink-Communication

Plugin and blocks to communicate the CoppeliaSim robotic simulator with the Matlab Simulink environment.

Instructions for compiling plugin in Windows:

  1. Download the source code.
  2. Copy the unzipped folder into the "programming" directory within the CoppeliaSim installation path (C:/Program Files/CoppeliaRobotics/CoppeliaSimEdu/programming).
  3. Open the .pro row and configure the project using the same version of the CoppeliaSim QtKit.
  4. Compile in Release mode

Instructions for compiling Simulink s-functions:

Before continuing, make sure you have a compiler compatible with your Matlab version. To check and configure the available compilers run mex -setup.

  1. Open Matlab and place into unziped folder.
  2. run the following commands:
mex gettable.cpp
mex settable.cpp

Instructions for running the examples:

  1. Download the examples and unzip them.
  2. Copy simExtSimulink.dll into CoppeliaSim folder : C:\Program Files\CoppeliaRobotics\CoppeliaSimEdu
  3. Open matlab. Make sure the matlab working path is inside the unzipped folder. Or add the unzipped folder to the matlab path.
  4. Open the file example_xx.slx and run the simulation.
  5. Coppelia sim should start automatically.

The "CoppeliaSim Open / Play / Stop" block is responsible for opening and running the simulation in CoppeliaSim. In case of error, delete this block, open the example "example_xx.ttt" and run the simulation manually.

Attention. To use on Linux you must compile all the source codes, including the Simulink s-functions. It is not yet tested on Linux.

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Plugin and blocks to communicate the CoppeliaSim robotic simulator with the Matlab Simulink environment.

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