borisbogaerts / coppeliasim-vr-toolbox

This repository contains the code to experience CoppeliaSim in VR

CoppeliaSim-VR-Toolbox

This repository contains virtual reality tools for VREP. CoppeliaSim is a robotics simulation software package that is available here: http://www.coppeliarobotics.com/

Currently two tools are available

• CoppeliaSim-VR-Interface
• VR 360 cam (omnidirectional stereo renderer)

CoppeliaSim-VR-Interface

This repository contains the code to experience CoppeliaSim in VR. It can visualize CoppeliaSim scenes in openvr compatible devices (HTC-VIVE and HTC-VIVE Pro are tested) and return user manipulations to CoppeliaSim. It is also able to visualize the coverage of camera systems (later more).

Installation instructions and a feature overview is now also available in a youtube video: https://www.youtube.com/watch?v=_GXVdgihVgQ An update video of new features in V2 and V2.1 is also available: https://youtu.be/ozam2Ew7RdA

Some Youtube videos showing the interface in action:

• https://www.youtube.com/watch?v=yMydjviF7yg
• https://www.youtube.com/watch?v=Dsh8oyN4sD0&t
• https://youtu.be/nakQGTs4Fs0
• https://youtu.be/3Lvhmh3th3Q
• https://www.youtube.com/watch?v=QYX7WIiahbw (courtesy of Mathieu Lauret and Amir Beddiaf)

The interface has the following capabilities:

• Read all renderable geometry from CoppeliaSim (colors, opacities and (moving) textures are also transfered)
• Read dynamically generated geometry
• Synchronize all poses in real time
• Send the positions of controllers and headset to CoppeliaSim
• Send all controller buttonpress/buttontouch events to CoppeliaSim as string signals
• Send trackpad position to CoppeliaSim
• Import standard interactions as dummies, that can be attatched to controllers
• Add a customizable menu in VR that when menu items are selected, triggers the execution of CoppeliaSim scripts.
• Visibility layers are respected, which allows for the possibility of hiding objects.

VR 360 cam

This tool renders omnidirectional stereo images for a CoppeliaSim vision sensor. You don't need any physical VR device to use this tool (only to view the result). The theory behind this rendering process is exelently explained here : https://developers.google.com/vr/jump/rendering-ods-content.pdf.

Some videos produced with this tool:

• https://youtu.be/7O629j58bTI
• https://youtu.be/pFAptrCYhaQ

To use this tool, import the VR360_cam.ttm model in your CoppeliaSim scene. Next launch VR360_cam.exe (maybe as administrator, a file is saved in the location of the .exe file, this action could require administrator privileges). This process is demonstrated at the end of this video https://youtu.be/ozam2Ew7RdA.

Note that the HTC_VIVE.ttm model must be in the CoppeliaSim scene to do this (you don't need a VIVE for this to work).

Currently the performance is quite decent 1 image in a complex scene renders in approximately 15 seconds (requires 16.384 individual renders, approx 1100 fps).

If you make a video by composing multiple images, do not forget to inject the correct metadata https://github.com/google/spatial-media/releases for it to be interpreted correctly.

Installation (easy)

Installation instructions are now also available on youtube: https://www.youtube.com/watch?v=_GXVdgihVgQ

This repository can be installed by an installer package available under the release tab in this repository.

After running the installer the user needs to run the bat file (copyToVREP.bat) as administrator. This bat file can be found in the installation directory of the interface typically (C:\Program Files (x86)\CoppeliaSim VR interface). IMPORTANT if CoppeliaSim is not installed in the default (my default at least) location (C:\Program Files\CoppeliaSim3\CoppeliaSim_PRO_EDU), than the correct folder should be identified in the bat file. The bat file can be changed by opening it in your favorite text editor (be very precise in the way you specify the folder, no spaces etc).

The bat file will copy following files to your CoppeliaSim installation folder:

• Lua scripts that will be accesed by CoppeliaSim objects belonging to the interface (required)
• A custom remoteApiConnections.txt file which opens more ports (required, if coverage visualization is used at least)
• Models used by the VR-interface (usefull)
• Example scenes (usefull)

Usage

The basic principle of the interface is simple. Activate steam and make shure the device is running and recognized. And run the CoppeliaSim VR Interface.exe program. If the user starts a simulation in CoppeliaSim (if the scene contains the HTC-VIVE.ttm object) the interface will read all geometry and start the visualization. If the user stops the simulation, the interface will stop the visualization and wait for the next simulation start (can ba a different scene, doesn't matter).

More specific instructions are provided in demo scenes. The logical order of which are

• Hello_vr_world.ttt
• Hello_controls.ttt
• Hello_signals.ttt
• Hello_camera_coverage.ttt

Interactive Camera Network Design using a Virtual Reality Interface

The interface contains the implementation of the paper "Interactive Camera Network Design using a Virtual Reality Interface" available at https://arxiv.org/abs/1809.07593 (yt:https://www.youtube.com/watch?v=Dsh8oyN4sD0&t=2s)

The controls and usage are already explained in example Hello_camera_coverage.ttt.

Two scenes used in the paper are also provided:

• VR_sensorPlacement_harbour.ttt
• VR_sensorPlacement_office.ttt

Please cite this paper if the interface is used in a relevant context (camera placement/coverage visualization)

@article{bogaerts2019interactive, title={Interactive Camera Network Design Using a Virtual Reality Interface}, author={Bogaerts, Boris and Sels, Seppe and Vanlanduit, Steve and Penne, Rudi}, journal={Sensors}, volume={19}, number={5}, pages={1003}, year={2019}, publisher={Multidisciplinary Digital Publishing Institute} }

Enabling Humans to Plan Inspection Paths Using a Virtual Reality Interface

The interface also contains the implementation of the paper "Enabling Humans to Plan Inspection Paths Using a Virtual Reality Interface" available at https://arxiv.org/abs/1909.06077

The usage is the same as in the demo scene: Hello_camera_coverage.ttt. To visualize the quality on a mesh, just make the mesh a child of the Field model.

Additional signals:

• To reset a measurement state: sim.setIntegerSignal("ResetMeasurement", 1)
• To record a path: sim.setIntegerSignal("MeasurementInProgress", 1)

Please cite this paper if the interface is used in a relevant context (Robotic inspection planning)

@article{bogaerts2019enabling, title={Enabling Humans to Plan Inspection Paths Using a Virtual Reality Interface}, author={Bogaerts, Boris and Sels, Seppe and Vanlanduit, Steve and Penne, Rudi}, journal={arXiv preprint arXiv:1909.06077}, year={2019} }

coppeliasim-vr-toolbox's Issues

Error: [string -unknown location]:?: Call failed. (simCallScriptFunctionEx on isRunning@HTC_VIVE) (Trinus)

Hello Boris,

I'm using the phone with Trinus(an app let mobile phone become VR headset) to simulate the HTC VIVE.
Everything works well until I run the example scene 'hello vr world'
Steam VR is stuck in running vrepVIVE and V-REP prints out
Error: [string -unknown location]:?: Call failed. (simCallScriptFunctionEx on isRunning@HTC_VIVE)
What can I do to fix it?
Thank you!

Kind regards
Lily

Originally posted by @lyl1999923 in #1 (comment)

steamVR not displaying the scene

Hi, I am the one who asked for some help in your youtube video.
This time I tried to do the same with VREP and version V2.0 of your program, and I got the same result. This video demonstrates the problem:
https://drive.google.com/file/d/11fiQHaeOOxRpJhLKLA-M6dE7yio9poZ8/view?usp=sharing

Notes :

• Vrep shows that it is playing vrepVIVE however nothing is shown :
  https://drive.google.com/file/d/1u0hJhATx8c5DHG6vOABU9Bt7N3_lkIWI/view?usp=sharing
• I tried the test with two base stations with no results.
• What is confusing is that some time steamVR displays "Exiting vrepVIVE" when all the models are successfully loaded on the v-rep vr interface.

sim.setModelProperty is not being respected by VR-Toolbox

Hi,
This isn't a big problem, still I wanted to drop you a line.
In my code I tried using sim.setModelProperty(objHandle, sim.modelproperty_not_visible), which works in CoppeliaSim, but does not affect Vr-Toolbox.

(I didn't check the behavior of other model properties)

This isn't a big problem because layers could still be used to show/hide objects during simulation.

edit 1: I noticed simSetObjectInt32Parameter(objHandle, sim.objintparam_visibility_layer,0) also has no effect, so it seems I must resort to hiding layers during simulation.
edit 2: There's no way to hide an entire layer from within a script, like how the layer selection dialog box works. Which means there isn't a way (Or I can't find such a way) to hide objects during simulation in VR toolbox. So this bug isn't so small after all.

Using a VR Headset as a camera in CoppeliaSim

Dear Boris,

Hope all is well with you!
I would like to ask if there's a way to use the toolbox without modification to accomplish the following task:
Attach a camera-object to a moving object in CoppeliaSim, and render that camera's feed onto the VR headset as the simulation is on (regardless of how the headset moves in real life).

Thank you in advance!

Sincerely,
Mohamed Arafat

We want to know which devices work

I tested the devices on:
HTC-VIVE
HTC-VIVE pro

and both the visualization and signals worked

HTC VIVE in VREP

Hello,
I am using HTC VIVE in V-REP.
I want to ask you if you can help me understand how to get the following results and if you have any suggestions on how to get them (for example on which file to act):

• fix the position of the headset regardless of the position of my head, in order to have a fixed point of view in space (for example at a certain height)
• scaling so that my arm corresponds to the robotic arm and the controller corresponds to the end effector

In this way I could command the robot without having to move around the scene

Best regards
Simona

Simulation won't stop - The problem with Bill.

This is Bill.

There is nothing in the simulation except him and the HTC_VIVE model.
Once the simulation is running in VR, it cannot be stopped. (Sometimes it runs okay for a run or two, but then it gets stuck. Other times the simulation won't run at all).
-I click the stop button, but simulation never ends. the console shows:

[sandboxScript:info]   Simulation started.
[sandboxScript:info]   simulation stopping...

Bill isn't positioned in the center of the scene. Neither he is standing straight - he's tilted a little (compared to the world frame.)
If I translate bill to the center, or if I rotate him to stand straight, The problem goes away.

I don't know why Bill is being like that. but It sure took me a long time to figure out what was the offending model, so I could make a clean file with nothing but the issue!

CoppeliaSim edu V 4.1.0 rev.1 64bit
no debug.log file is being created in the VR interface folder,
CoppeliaSim VR Toolbox 2.2
bill wont stop.zip

Path_programming_nteractor Problem

Hello Boris,
when I start the VR simulation, the robot slowly starts to move as if it were subject to its weight. Then as soon as I press the controller grip, the robot doesn't move and I get the following error:

[mainScript:error] 20: Object not tagged for explicit handling (in function 'sim.handleChildScripts')

path_interactor.zip

I hope you can help me to find out what the problem is

Thank you

Elisabeth

Help regarding changing the external api port number and rebuilding

Dear Boris,

I am working on a project which involves two applications connecting to v-rep using the remote API, one of which is your VR-Toolbox (which I am very thankful for).

However, I am running into an issue where I need to change the port which the VR-toolbox uses to communicate with v-rep, as it is occupied by the other software. I would like to change the port number in your VR-toolbox code and rebuild it.

I have loaded the .sln file on Visual Studio 2017 (since it runs the compatible toolset v141). However, I am unable to build the solution with the new port. I would like to ask for your help setting up the Visual Studio environment to be able to build the code.

Thank you! I highly appreciate your work!

[CoppeliaSim:error] External call to simCallScriptFunction failed (isRunning@HTC_VIVE): Failed calling script function.

Hi!
First of all, great work, thank you so much!

I'm running into a small bug here, I get this error flooding CoppeliaSim's console window, while not running the simulation.
The error stops once I'm running the simulation, and resumes once simulation is stopped.
However, the VR simulation works just fine.
(btw, I'm using WMR headset and controllers through SteamVR, so you can add WMR to the tested platforms if you wish.)

CoppeliaSim edu V 4.1.0 rev.1 64bit
installed in the default folder (C:\Program Files\CoppeliaRobotics\CoppeliaSimEdu)
(btw, you have the correct path written in copyToVREP.bat: SET vrepLocation=C:\Program Files\CoppeliaRobotics\CoppeliaSimEdu, but the readme.md is wrong: C:\Program Files\CoppeliaSim3\CoppeliaSim_PRO_EDU)

no debug.log file is being created in the VR interface folder,
CoppeliaSim VR Toolbox 2.2

since the VR interface console window writes 'Simulation started' - seems like the vr interface must be getting correct values from isRunning function in HTC_VIVE.lua, so it could be that the bug is in coppeliaSim.

output from VR interface console window:

Trying to connect with V-REP ...

Connected to V-REP, clientID number : 0
Connected to V-REP port number : 19997
Wait for simulation start ...
Simulation started

Loaded geometry with handle 14 with 6 vertices and 2 faces vrep name : Plane Visibility layer : 1
    Added texture to shape
Loaded geometry with handle 16 with 984 vertices and 1988 faces vrep name : IRB4600_visible Visibility layer : 1
Loaded geometry with handle 19 with 2118 vertices and 4163 faces vrep name : IRB4600_link1_visible Visibility layer : 1
(...I removed similar 'Loaded geometry' lines before posting)

Number of objects loaded : 131
Added light, angle : 90.0027
Added light, angle : 90.0027
Added light, angle : 90.0027
Added light, angle : 90.0027
Everithing loaded succesfully
Connected to VREP path
fps: 96     Scale: 100%


Wait for simulation start ...

Running steamvr in windows and coppeliasim in linux

I would like to run steamvr in windows and coppeliasim in linux. Does this sound at all possible? I tried port forwarding 19997 which sort of worked but it quickly crashes while attempting to transfer the scene assets. :)

Reproducing the project in Linux environment.

Hi, I'm trying to reproduce your work to be compatible in Ubuntu environment.

Currently, I'm using PyRep API ["https://github.com/stepjam/PyRep"] connected to CoppeliaSim v4.

I want to render the simulated environment to HTC Vive's HMD device that runs over the SteamVR in Linux.

In the naive way, I can think of overlaying the 2D RGB video acquired from the simulated camera in the CoppeliaSim on the HTC Vive's HMD device. This can be done with the usage of python wrappers for openvr [https://github.com/cmbruns/pyopenvr].

However, by doing so, I can't expect the human eye-like view as you demonstrated in this project.

In another thought coming to my mind, I guess I can reproduce your work using the PyRep and OpenGL's Python API.

Before I start reproducing your work, I want to get advice from you on whether this approach could work. Or, if you have some good suggestions on this, could you help with this?

Thanks in advance!

Handling 2 Path_programming_interactors

Hi Boris,

I made a scene using path_programming_interactor with HTC-VIVE and it worked fine.
And I am trying to apply 2 path_programming_interactors to each robot and simulate cooperative operation with 2 robots.
However the Path_programming_interactor added later always makes error like following error and code. And, at this case, the other Path_programming_interactor, 1st added one, works fine.

Lua runtime error: ~ Path_programming_interactor#0]:192: Object does not exist. (sim.getObjectHandle)
192: vive = sim.getObjectHandle('HTC_VIVE')

Do you have any idea about how I can fix this?

Best regards,
HS

VR-Interface Installation Problem

Hello,
I am a student and I am trying to install VR-Interface for VREP but I have some problems.

I have installed V-Rep 3.6.2 and vrep_vr_installer.

Then I run the .bat file and I changed the directory to put that one where V-REP is installed on my computer.

Then I run copyToVREP.bat as administrator and then I start V-REP but in Model browser VR-Interface is not present.

Of course, also when I try to open a new scene, the VR Interface folder is not present.

I think something went wrong. It's like the copy procedure has not be done.

I've also repeated the process several times but it doesn't work.

So I manually copied the models and scenes of VR in models and scene folders of VREP. Then I copied the files in the Script folder in V-REP_PRO_EDU
folder. In this way I can load models and scenes in V-REP but when I start VR Interface and then the simulation I have this error:
Error: [string -unknown location]:?: Call failed. (simCallScriptFunctionEx on isRunning@HTC_VIVE)

Moreover, here is the output of the vrepVive.exe shell:

Trying to connect with V-REP ...

Connected to V-REP, clientID number : 0
Connected to V-REP port number : 19997

Wait for simulation start ...
Simulation started

Loaded geometry with handle 14 with 6 vertices and 2 faces vrep name : Plane Vis
ibility layer : 1
Added texture to shape
Loaded geometry with handle 16 with 984 vertices and 1988 faces vrep name : IRB4
600_visible Visibility layer : 1
Loaded geometry with handle 19 with 2118 vertices and 4163 faces vrep name : IRB
4600_link1_visible Visibility layer : 1
Loaded geometry with handle 30 with 111 vertices and 198 faces vrep name : IRB46
00_link6_visible Visibility layer : 1
Loaded geometry with handle 34 with 319 vertices and 634 faces vrep name : IRB46
00_link5_visible Visibility layer : 1
Loaded geometry with handle 35 with 3137 vertices and 6158 faces vrep name : IRB
4600_link4_visible Visibility layer : 1
Loaded geometry with handle 36 with 2033 vertices and 4061 faces vrep name : IRB
4600_link3_visible Visibility layer : 1
Loaded geometry with handle 37 with 1179 vertices and 2275 faces vrep name : IRB
4600_link2_visible Visibility layer : 1
Loaded geometry with handle 40 with 480 vertices and 777 faces vrep name : irb36
0 Visibility layer : 1
Loaded geometry with handle 51 with 510 vertices and 937 faces vrep name : irb36
0_arm Visibility layer : 1
Loaded geometry with handle 55 with 32 vertices and 32 faces vrep name : irb360_
linkL Visibility layer : 1
Loaded geometry with handle 58 with 208 vertices and 400 faces vrep name : irb36
0_bridgeT Visibility layer : 1
Loaded geometry with handle 63 with 588 vertices and 1059 faces vrep name : irb3
60_platform Visibility layer : 1
Loaded geometry with handle 68 with 32 vertices and 32 faces vrep name : irb360_
linkL0 Visibility layer : 1
Loaded geometry with handle 71 with 208 vertices and 400 faces vrep name : irb36
0_bridgeB Visibility layer : 1
Loaded geometry with handle 81 with 32 vertices and 32 faces vrep name : irb360_
linkL1 Visibility layer : 1
Loaded geometry with handle 84 with 208 vertices and 400 faces vrep name : irb36
0_bridgeT0 Visibility layer : 1
Loaded geometry with handle 89 with 510 vertices and 937 faces vrep name : irb36
0_arm0 Visibility layer : 1
Loaded geometry with handle 95 with 32 vertices and 32 faces vrep name : irb360_
linkL2 Visibility layer : 1
Loaded geometry with handle 98 with 208 vertices and 400 faces vrep name : irb36
0_bridgeB0 Visibility layer : 1
Loaded geometry with handle 108 with 32 vertices and 32 faces vrep name : irb360
_linkL3 Visibility layer : 1
Loaded geometry with handle 111 with 208 vertices and 400 faces vrep name : irb3
60_bridgeT1 Visibility layer : 1
Loaded geometry with handle 116 with 510 vertices and 937 faces vrep name : irb3
60_arm1 Visibility layer : 1
Loaded geometry with handle 122 with 32 vertices and 32 faces vrep name : irb360
linkL4 Visibility layer : 1
Loaded geometry with handle 125 with 208 vertices and 400 faces vrep name : irb3
60_bridgeB1 Visibility layer : 1
Loaded geometry with handle 148 with 11 vertices and 18 faces vrep name : Extrac
ted_shape11 Visibility layer : 1
Loaded geometry with handle 149 with 29 vertices and 54 faces vrep name : Extrac
ted_shape9 Visibility layer : 1
Loaded geometry with handle 150 with 4 vertices and 2 faces vrep name : Extracte
d_shape10 Visibility layer : 1
Loaded geometry with handle 151 with 70 vertices and 74 faces vrep name : Extrac
ted_shape7 Visibility layer : 1
Loaded geometry with handle 152 with 86 vertices and 128 faces vrep name : Extra
cted_shape3 Visibility layer : 1
Loaded geometry with handle 153 with 41 vertices and 58 faces vrep name : Extrac
ted_shape Visibility layer : 1
Loaded geometry with handle 154 with 64 vertices and 64 faces vrep name : Cylind
er Visibility layer : 1
Loaded geometry with handle 155 with 394 vertices and 698 faces vrep name : Cyli
nder1 Visibility layer : 1
Loaded geometry with handle 156 with 394 vertices and 698 faces vrep name : Cyli
nder2 Visibility layer : 1
Loaded geometry with handle 157 with 394 vertices and 698 faces vrep name : Cyli
nder3 Visibility layer : 1
Loaded geometry with handle 158 with 394 vertices and 698 faces vrep name : Cyli
nder4 Visibility layer : 1
Loaded geometry with handle 159 with 394 vertices and 698 faces vrep name : Cyli
nder5 Visibility layer : 1
Loaded geometry with handle 160 with 394 vertices and 698 faces vrep name : Cyli
nder6 Visibility layer : 1
Loaded geometry with handle 161 with 64 vertices and 64 faces vrep name : Cylind
er0 Visibility layer : 1
Loaded geometry with handle 162 with 64 vertices and 64 faces vrep name : Cylind
er7 Visibility layer : 1
Loaded geometry with handle 163 with 24 vertices and 30 faces vrep name : Rectan
gle1 Visibility layer : 1
Loaded geometry with handle 164 with 121 vertices and 204 faces vrep name : Extr
acted_shape_sub0 Visibility layer : 1
Loaded geometry with handle 165 with 2595 vertices and 5009 faces vrep name : ST
L_Imported_sub0 Visibility layer : 1
Loaded geometry with handle 166 with 377 vertices and 585 faces vrep name : STL
Imported_sub3 Visibility layer : 1
Loaded geometry with handle 167 with 660 vertices and 1180 faces vrep name : Ext
racted_shape0_sub0_sub0_sub0 Visibility layer : 1
Loaded geometry with handle 168 with 1000 vertices and 1440 faces vrep name : Cy
linder8 Visibility layer : 1
Loaded geometry with handle 169 with 296 vertices and 444 faces vrep name : Circ
ularConveyorBelt Visibility layer : 1
Loaded geometry with handle 172 with 8 vertices and 12 faces vrep name : Disc Vi
sibility layer : 1
Loaded geometry with handle 175 with 8 vertices and 12 faces vrep name : Disc0 V
isibility layer : 1
Loaded geometry with handle 178 with 8 vertices and 12 faces vrep name : Disc1 V
isibility layer : 1
Loaded geometry with handle 181 with 8 vertices and 12 faces vrep name : Disc2 V
isibility layer : 1
Loaded geometry with handle 184 with 8 vertices and 12 faces vrep name : Disc3 V
isibility layer : 1
Loaded geometry with handle 187 with 8 vertices and 12 faces vrep name : Disc4 V
isibility layer : 1
Loaded geometry with handle 190 with 8 vertices and 12 faces vrep name : Disc5 V
isibility layer : 1
Loaded geometry with handle 193 with 8 vertices and 12 faces vrep name : Disc6 V
isibility layer : 1
Loaded geometry with handle 196 with 8 vertices and 12 faces vrep name : Disc7 V
isibility layer : 1
Loaded geometry with handle 199 with 8 vertices and 12 faces vrep name : Disc8 V
isibility layer : 1
Loaded geometry with handle 202 with 8 vertices and 12 faces vrep name : Disc9 V
isibility layer : 1
Loaded geometry with handle 205 with 8 vertices and 12 faces vrep name : Disc10
Visibility layer : 1
Loaded geometry with handle 208 with 8 vertices and 12 faces vrep name : Disc11
Visibility layer : 1
Loaded geometry with handle 211 with 8 vertices and 12 faces vrep name : Disc12
Visibility layer : 1
Loaded geometry with handle 214 with 8 vertices and 12 faces vrep name : Disc13
Visibility layer : 1
Loaded geometry with handle 217 with 8 vertices and 12 faces vrep name : Disc14
Visibility layer : 1
Loaded geometry with handle 220 with 8 vertices and 12 faces vrep name : Disc15
Visibility layer : 1
Loaded geometry with handle 223 with 8 vertices and 12 faces vrep name : Disc16
Visibility layer : 1
Loaded geometry with handle 226 with 8 vertices and 12 faces vrep name : Disc17
Visibility layer : 1
Loaded geometry with handle 229 with 8 vertices and 12 faces vrep name : Disc18
Visibility layer : 1
Loaded geometry with handle 232 with 8 vertices and 12 faces vrep name : Disc19
Visibility layer : 1
Loaded geometry with handle 235 with 8 vertices and 12 faces vrep name : Disc20
Visibility layer : 1
Loaded geometry with handle 238 with 8 vertices and 12 faces vrep name : Disc21
Visibility layer : 1
Loaded geometry with handle 241 with 8 vertices and 12 faces vrep name : Disc22
Visibility layer : 1
Loaded geometry with handle 244 with 8 vertices and 12 faces vrep name : Disc23
Visibility layer : 1
Loaded geometry with handle 247 with 8 vertices and 12 faces vrep name : Disc24
Visibility layer : 1
Loaded geometry with handle 250 with 8 vertices and 12 faces vrep name : Disc25
Visibility layer : 1
Loaded geometry with handle 253 with 8 vertices and 12 faces vrep name : Disc26
Visibility layer : 1
Loaded geometry with handle 256 with 8 vertices and 12 faces vrep name : Disc27
Visibility layer : 1
Loaded geometry with handle 259 with 8 vertices and 12 faces vrep name : Disc28
Visibility layer : 1
Loaded geometry with handle 262 with 8 vertices and 12 faces vrep name : Disc29
Visibility layer : 1
Loaded geometry with handle 265 with 8 vertices and 12 faces vrep name : Disc30
Visibility layer : 1
Loaded geometry with handle 268 with 8 vertices and 12 faces vrep name : Disc31
Visibility layer : 1
Loaded geometry with handle 271 with 8 vertices and 12 faces vrep name : Disc32
Visibility layer : 1
Loaded geometry with handle 274 with 8 vertices and 12 faces vrep name : Disc33
Visibility layer : 1
Loaded geometry with handle 277 with 8 vertices and 12 faces vrep name : Disc34
Visibility layer : 1
Loaded geometry with handle 280 with 8 vertices and 12 faces vrep name : Disc35
Visibility layer : 1
Loaded geometry with handle 283 with 8 vertices and 12 faces vrep name : Disc36
Visibility layer : 1
Loaded geometry with handle 286 with 8 vertices and 12 faces vrep name : Disc37
Visibility layer : 1
Loaded geometry with handle 289 with 8 vertices and 12 faces vrep name : Disc38
Visibility layer : 1
Loaded geometry with handle 292 with 8 vertices and 12 faces vrep name : Disc39
Visibility layer : 1
Loaded geometry with handle 295 with 8 vertices and 12 faces vrep name : Disc40
Visibility layer : 1
Loaded geometry with handle 298 with 8 vertices and 12 faces vrep name : Disc41
Visibility layer : 1
Loaded geometry with handle 301 with 8 vertices and 12 faces vrep name : Disc42
Visibility layer : 1
Loaded geometry with handle 304 with 8 vertices and 12 faces vrep name : Disc43
Visibility layer : 1
Loaded geometry with handle 307 with 8 vertices and 12 faces vrep name : Disc44
Visibility layer : 1
Loaded geometry with handle 310 with 8 vertices and 12 faces vrep name : Disc45
Visibility layer : 1
Loaded geometry with handle 313 with 8 vertices and 12 faces vrep name : Disc46
Visibility layer : 1
Loaded geometry with handle 316 with 8 vertices and 12 faces vrep name : Disc47
Visibility layer : 1
Loaded geometry with handle 319 with 8 vertices and 12 faces vrep name : Disc48
Visibility layer : 1
Loaded geometry with handle 322 with 8 vertices and 12 faces vrep name : Disc49
Visibility layer : 1
Loaded geometry with handle 325 with 8 vertices and 12 faces vrep name : Disc50
Visibility layer : 1
Loaded geometry with handle 328 with 8 vertices and 12 faces vrep name : Disc51
Visibility layer : 1
Loaded geometry with handle 331 with 8 vertices and 12 faces vrep name : Disc52
Visibility layer : 1
Loaded geometry with handle 334 with 8 vertices and 12 faces vrep name : Disc53
Visibility layer : 1
Loaded geometry with handle 337 with 8 vertices and 12 faces vrep name : Disc54
Visibility layer : 1
Loaded geometry with handle 340 with 8 vertices and 12 faces vrep name : Disc55
Visibility layer : 1
Loaded geometry with handle 343 with 8 vertices and 12 faces vrep name : Disc56
Visibility layer : 1
Loaded geometry with handle 346 with 8 vertices and 12 faces vrep name : Disc57
Visibility layer : 1
Loaded geometry with handle 349 with 8 vertices and 12 faces vrep name : Disc58
Visibility layer : 1
Loaded geometry with handle 352 with 8 vertices and 12 faces vrep name : Disc59
Visibility layer : 1
Loaded geometry with handle 355 with 8 vertices and 12 faces vrep name : Disc60
Visibility layer : 1
Loaded geometry with handle 358 with 8 vertices and 12 faces vrep name : Disc61
Visibility layer : 1
Loaded geometry with handle 361 with 8 vertices and 12 faces vrep name : Disc62
Visibility layer : 1
Loaded geometry with handle 364 with 8 vertices and 12 faces vrep name : Disc63
Visibility layer : 1
Loaded geometry with handle 367 with 8 vertices and 12 faces vrep name : Disc64
Visibility layer : 1
Loaded geometry with handle 370 with 8 vertices and 12 faces vrep name : Disc65
Visibility layer : 1
Loaded geometry with handle 373 with 8 vertices and 12 faces vrep name : Disc66
Visibility layer : 1
Loaded geometry with handle 376 with 8 vertices and 12 faces vrep name : Disc67
Visibility layer : 1
Loaded geometry with handle 379 with 8 vertices and 12 faces vrep name : Disc68
Visibility layer : 1
Loaded geometry with handle 382 with 8 vertices and 12 faces vrep name : Disc69
Visibility layer : 1
Loaded geometry with handle 385 with 8 vertices and 12 faces vrep name : Disc70
Visibility layer : 1
Loaded geometry with handle 388 with 8 vertices and 12 faces vrep name : Disc71
Visibility layer : 1
Loaded geometry with handle 391 with 8 vertices and 12 faces vrep name : Disc72
Visibility layer : 1
Loaded geometry with handle 394 with 178 vertices and 304 faces vrep name : Bill
_shoes Visibility layer : 1
Loaded geometry with handle 396 with 228 vertices and 436 faces vrep name : Bill
_lowerLegs Visibility layer : 1
Loaded geometry with handle 398 with 146 vertices and 272 faces vrep name : Bill
_upperLegs Visibility layer : 1
Loaded geometry with handle 400 with 225 vertices and 413 faces vrep name : Bill
body Visibility layer : 1
Loaded geometry with handle 402 with 446 vertices and 846 faces vrep name : Bill
head Visibility layer : 1
Loaded geometry with handle 404 with 57 vertices and 104 faces vrep name : Bill
rightUpperArm Visibility layer : 1
Loaded geometry with handle 406 with 41 vertices and 72 faces vrep name : Bill_r
ightForearm Visibility layer : 1
Loaded geometry with handle 409 with 57 vertices and 104 faces vrep name : Bill
leftUpperArm Visibility layer : 1
Loaded geometry with handle 411 with 41 vertices and 72 faces vrep name : Bill_l
eftForearm Visibility layer : 1
Loaded geometry with handle 419 with 8 vertices and 12 faces vrep name : Cuboid
Visibility layer : 1
Number of objects loaded : 131
Added light, angle : 90.0027
Added light, angle : 90.0027
Added light, angle : 90.0027
Added light, angle : 90.0027
Unable to read VR Path Registry from C:\Users\Dario\AppData\Local\openvr\openvrp
aths.vrpath
Everithing loaded succesfully

Could you please tell me how can I fix this problem?

Best regards,

Simona

Color doesn't change in VR environment

Hi Boris!

First of all, thank you for this great work!
I am having an issue where color doesn't change in VR environment. I am using color as an indicator of my simulation, but it seems like the result of sim.setShapeColor function isn't reflected on VR environment.
In addition to that, is there any way I can use the vibration functionality of the controller of my headsets?

I hope you can help me out with these problems, Thank you!

The scene in VR does not change.

Hi Boris,
First of all, thank you for this project!
I have a problem. When I am running the CoppeliaSim-VR-Toolbox, and running the V-rep scene, they are running well, but the scene in VR does not change. It still running steam VR home.
I update steam vr version to 1.16.10 by accident. I wonder if it is possible because of the automatic update of steam VR version. But I can not find the old version of steam VR.
So, can you help me with this problems?
The following two pictures are the state of my runtime：

CoppeliaSim-VR-Toolbox 2.2 build

the file 'vrep_plot_container.h' is lost