To run this, you should have a file of joint trajectories previously generated (N+1 columns: the first one has the time instant, the others accounts for the joints). This file has to be linked at line 4
of load_path.m
. Modify also line 2
for the total execution time and line 30
of the same file the total number of columns found.
Then, keep open the Simulink file and the V-REP scene. In Simulink, modify the total execution time (and the number of scopes, if needed) and run. The movement will start also in V-REP.
IMPORTANT: in Simulink, you may need to modify the callbacks function. Go to Simulation > Model Properties > Model Properties > Callbacks
and modify InitFcn and StopFcn as suggested in the corresponding txt
files.