From b3a97f6413a2779e37bd381c4225944454193702 Mon Sep 17 00:00:00 2001
From: Frederico Afonso <frederico.fernandes.afonso@gmail.com>
Date: Fri, 26 Jan 2024 15:29:07 +0000
Subject: [PATCH 01/32] Added the class 'DQ_SerialVrepRobot'. Also modified the
 class 'DQ_VrepRobot' as required by 'DQ_SerialVrepRobot'.

---
 interfaces/vrep/DQ_SerialVrepRobot.m | 236 +++++++++++++++++++++++++++
 interfaces/vrep/DQ_VrepRobot.m       |  16 +-
 2 files changed, 248 insertions(+), 4 deletions(-)
 create mode 100644 interfaces/vrep/DQ_SerialVrepRobot.m

diff --git a/interfaces/vrep/DQ_SerialVrepRobot.m b/interfaces/vrep/DQ_SerialVrepRobot.m
new file mode 100644
index 00000000..a6b92c71
--- /dev/null
+++ b/interfaces/vrep/DQ_SerialVrepRobot.m
@@ -0,0 +1,236 @@
+% CLASS DQ_SerialVrepRobot - Concrete class to interface with serial robots
+% in VREP.
+%
+% Usage:
+%       1) Drag-and-drop a serial robot to a VREP scene. For instance, a
+%       "LBR4p" robot.
+%       2) Run
+%           >> vi = DQ_VrepInterface();
+%           >> vi.connect('127.0.0.1',19997);
+%           >> vrep_robot = LBR4pVrepRobot("LBR4p", vi);
+%           >> vi.start_simulation();
+%           >> robot.get_q_from_vrep();
+%           >> pause(1);
+%           >> vi.stop_simulation();
+%           >> vi.disconnect();
+%       Note that the name of the robot should be EXACTLY the same as in
+%       VREP. For instance, if you drag-and-drop a second robot, its name
+%       will become "LBR4p#0", a third robot, "LBR4p#1", and so on.
+%
+%   DQ_SerialVrepRobot Methods:
+%       send_q_to_vrep - Sends the joint configurations to VREP
+%       get_q_from_vrep - Obtains the joint configurations from VREP
+%       kinematics - Obtains the DQ_Kinematics implementation of this robot
+
+% (C) Copyright 2018-2023 DQ Robotics Developers
+%
+% This file is part of DQ Robotics.
+%
+%     DQ Robotics is free software: you can redistribute it and/or modify
+%     it under the terms of the GNU Lesser General Public License as published by
+%     the Free Software Foundation, either version 3 of the License, or
+%     (at your option) any later version.
+%
+%     DQ Robotics is distributed in the hope that it will be useful,
+%     but WITHOUT ANY WARRANTY; without even the implied warranty of
+%     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+%     GNU Lesser General Public License for more details.
+%
+%     You should have received a copy of the GNU Lesser General Public License
+%     along with DQ Robotics.  If not, see <http://www.gnu.org/licenses/>.
+%
+% DQ Robotics website: dqrobotics.github.io
+%
+% Contributors to this file:
+%     1. Frederico Fernandes Afonso Silva (frederico.silva@ieee.org)
+%        - Responsible for the original implementation.
+
+classdef DQ_SerialVrepRobot < DQ_VrepRobot
+    properties
+        joint_names;
+        base_frame_name;
+    end
+
+    methods
+        function obj = DQ_SerialVrepRobot(base_robot_name, robot_dof, robot_name, vrep_interface)
+            % This method constructs an instance of a DQ_SerialVrepRobot.
+            % Usage:
+            %     DQ_SerialVrepRobot(base_robot_name, robot_dof, robot_name, vrep_interface);  
+            %          base_robot_name: The base name of the robot in the CoppeliaSim scene.
+            %          robot_dof: The number of DoF of the robot in the CoppeliaSim scene.
+            %          robot_name: The name of the robot in the CoppeliaSim scene.
+            %          vrep_interface: The DQ_VrepInterface object connected to the CoppeliaSim scene.
+            %
+            % Example: 
+            %     vi = DQ_VrepInterface();
+            %     vi.connect('127.0.0.1',19997);
+            %     vrep_robot = DQ_SerialVrepRobot("my_robot", 7, "my_robot#1", vi);
+            %     
+            %     Note that the name of the robot should be EXACTLY the same as in the CoppeliaSim
+            %     scene. For instance, if you drag-and-drop a second robot, its name will become 
+            %     "my_robot#0", a third robot, "my_robot#1", and so on.
+
+            obj.robot_name = robot_name;
+            obj.vrep_interface = vrep_interface;
+
+            %% The use of 'initialize_joint_names_from_vrep()', as is done in the C++ implementation, is not supported on a constructor in MATLAB
+            % From the second copy of the robot and onward, VREP appends a
+            % #number in the robot's name. We check here if the robot is
+            % called by the correct name and assign an index that will be
+            % used to correctly infer the robot's joint labels.
+            splited_name = strsplit(obj.robot_name,'#');
+            robot_label = splited_name{1};
+            if ~strcmp(robot_label, base_robot_name)
+                error('Expected %s', base_robot_name)
+            end
+            if length(splited_name) > 1
+                robot_index = splited_name{2};
+            else
+                robot_index = '';
+            end
+            
+            % Initialize joint names, link names, and base frame name
+            obj.joint_names = {};
+            for i=1:robot_dof
+                current_joint_name = {robot_label,'_joint',int2str(i),'#',robot_index};
+                obj.joint_names{i} = strjoin(current_joint_name,'');
+
+                current_link_name = {robot_label,'_link',int2str(i+1),'#',robot_index};
+                obj.link_names{i} = strjoin(current_link_name,'');
+            end
+            obj.base_frame_name = obj.joint_names{1};
+        end
+
+        function joint_names = get_joint_names(obj)
+            % This method gets the joint names of the robot in the CoppeliaSim scene.
+            % Usage:
+            %     get_joint_names;
+            %
+            % Example: 
+            %     vi = DQ_VrepInterface();
+            %     vi.connect('127.0.0.1',19997);
+            %     vrep_robot = DQ_SerialVrepRobot("my_robot", 7, "my_robot#1", vi);
+            %     joint_names = vrep_robot.get_joint_names;
+
+            joint_names = obj.joint_names;
+        end
+
+        function set_configuration_space_positions(obj, q)
+            % This method sets the joint configurations to the robot in the CoppeliaSim scene.
+            % Usage:
+            %     set_configuration_space_positions(q);  
+            %          q: The joint configurations of the robot in the CoppeliaSim scene.
+            %
+            % Example: 
+            %     vi = DQ_VrepInterface();
+            %     vi.connect('127.0.0.1',19997);
+            %     vrep_robot = DQ_SerialVrepRobot("my_robot", 7, "my_robot#1", vi);
+            %     q = zeros(7,1);
+            %     vrep_robot.set_configuration_space_positions(q);
+            %     
+            %     Note that this calls "set_joint_positions" in the remoteAPI, meaning that it
+            %     is only suitable for passive joints.
+
+            obj.vrep_interface.set_joint_positions(obj.joint_names, q)
+        end
+        
+        function q = get_configuration_space_positions(obj)
+            % This method gets the joint configurations of the robot in the CoppeliaSim scene.
+            % Usage:
+            %     get_configuration_space_positions;  
+            %
+            % Example: 
+            %     vi = DQ_VrepInterface();
+            %     vi.connect('127.0.0.1',19997);
+            %     vrep_robot = DQ_SerialVrepRobot("my_robot", 7, "my_robot#1", vi);
+            %     q = vrep_robot.get_configuration_space_positions;
+
+            q = obj.vrep_interface.get_joint_positions(obj.joint_names);
+        end
+
+        function set_target_configuration_space_positions(obj, q_target)
+            % This method sets the joint configurations to the robot in the CoppeliaSim scene as a target configuration for the joint controllers.
+            % Usage:
+            %     set_target_configuration_space_positions(q);  
+            %          q_target: The target joint configurations of the robot in the CoppeliaSim scene.
+            %
+            % Example: 
+            %     vi = DQ_VrepInterface();
+            %     vi.connect('127.0.0.1',19997);
+            %     vrep_robot = DQ_SerialVrepRobot("my_robot", 7, "my_robot#1", vi);
+            %     q_target = zeros(7,1);
+            %     vrep_robot.set_target_configuration_space_positions(q_target);
+            %     
+            %     Note that this calls "set_joint_target_positions" in the remoteAPI, meaning that it
+            %     is only suitable for active joints.
+
+            obj.vrep_interface.set_joint_target_positions(obj.joint_names, q_target)
+        end
+        
+        function qd = get_configuration_space_velocities(obj)
+            % This method gets the joint velocities of the robot in the CoppeliaSim scene.
+            % Usage:
+            %     get_configuration_space_velocities;  
+            %
+            % Example: 
+            %     vi = DQ_VrepInterface();
+            %     vi.connect('127.0.0.1',19997);
+            %     vrep_robot = DQ_SerialVrepRobot("my_robot", 7, "my_robot#1", vi);
+            %     qd = vrep_robot.get_configuration_space_velocities;
+            
+            qd = obj.vrep_interface.get_joint_velocities(obj.joint_names);
+        end
+
+        function set_target_configuration_space_velocities(obj, v_target)
+            % This method sets the joint velocities of the robot in the CoppeliaSim scene as a target velocity for the joint controllers.
+            % Usage:
+            %     set_target_configuration_space_positions(q);  
+            %          v_target: The target joint velocities of the robot in the CoppeliaSim scene.
+            %
+            % Example: 
+            %     vi = DQ_VrepInterface();
+            %     vi.connect('127.0.0.1',19997);
+            %     vrep_robot = DQ_SerialVrepRobot("my_robot", 7, "my_robot#1", vi);
+            %     v_target = zeros(7,1);
+            %     vrep_robot.set_target_configuration_space_velocities(v_target);
+            %     
+            %     Note that this calls "set_joint_target_velocities" in the remoteAPI, meaning that it
+            %     is only suitable for active joints.
+
+            obj.vrep_interface.set_joint_target_velocities(obj.joint_names, v_target);
+        end
+
+        function set_configuration_space_torques(obj,tau)
+            % This method sets the joint torques of the robot in the CoppeliaSim scene.
+            % Usage:
+            %     set_target_configuration_space_positions(q);  
+            %          tau: The joint torques of the robot in the CoppeliaSim scene.
+            %
+            % Example: 
+            %     vi = DQ_VrepInterface();
+            %     vi.connect('127.0.0.1',19997);
+            %     vrep_robot = DQ_SerialVrepRobot("my_robot", 7, "my_robot#1", vi);
+            %     tau = zeros(7,1);
+            %     vrep_robot.set_configuration_space_torques(tau);
+            %     
+            %     Note that this calls "set_joint_torques" in the remoteAPI, meaning that it
+            %     is only suitable for active joints.
+
+            obj.vrep_interface.set_joint_torques(obj.joint_names,tau)
+        end
+
+        function tau = get_configuration_space_torques(obj)
+            % This method gets the joint torques of the robot in the CoppeliaSim scene.
+            % Usage:
+            %     get_configuration_space_torques;  
+            %
+            % Example: 
+            %     vi = DQ_VrepInterface();
+            %     vi.connect('127.0.0.1',19997);
+            %     vrep_robot = DQ_SerialVrepRobot("my_robot", 7, "my_robot#1", vi);
+            %     tau = vrep_robot.get_configuration_space_torques;
+
+            tau = obj.vrep_interface.get_joint_torques(obj.joint_names);
+        end
+    end
+end
\ No newline at end of file
diff --git a/interfaces/vrep/DQ_VrepRobot.m b/interfaces/vrep/DQ_VrepRobot.m
index fe6334ed..93bf81b6 100644
--- a/interfaces/vrep/DQ_VrepRobot.m
+++ b/interfaces/vrep/DQ_VrepRobot.m
@@ -30,7 +30,16 @@
 % DQ Robotics website: dqrobotics.sourceforge.net
 %
 % Contributors to this file:
-%     Murilo Marques Marinho - murilo@nml.t.u-tokyo.ac.jp
+%     1. Murilo Marques Marinho - murilo@nml.t.u-tokyo.ac.jp
+%       - Responsible for the original implementation.
+%     2. Frederico Fernandes Afonso Silva (frederico.silva@ieee.org)
+%       - Altered the names of the following methods to ensure
+%       compatibility with the C++ version of the class:
+%             - 'send_q_to_vrep' became 'set_configuration_space_positions'
+%             - 'get_q_from_vrep' became 'get_configuration_space_positions'
+%       - Removed the following methods to ensure compatibility with the
+%       C++ version of the class:
+%             - 'kinematics'
 
 classdef (Abstract) DQ_VrepRobot
     
@@ -40,9 +49,8 @@
     end
     
     methods (Abstract)
-        send_q_to_vrep(obj,q);
-        q = get_q_from_vrep(obj);
-        kin = kinematics(obj);
+        set_configuration_space_positions(obj,q);
+        q = get_configuration_space_positions(obj);
     end
 end
 

From ace84afa2b2bc734d820351a3f138049200595d7 Mon Sep 17 00:00:00 2001
From: Frederico Afonso <frederico.fernandes.afonso@gmail.com>
Date: Fri, 26 Jan 2024 15:52:54 +0000
Subject: [PATCH 02/32] Updated classes 'LBR4pVrepRobot' and 'YouBotVrepRobot'
 for compatibility with the class 'DQ_SerialVrepRobot'.

---
 interfaces/vrep/DQ_SerialVrepRobot.m     |  3 --
 interfaces/vrep/robots/LBR4pVrepRobot.m  | 69 ++++--------------------
 interfaces/vrep/robots/YouBotVrepRobot.m | 49 ++++++++---------
 3 files changed, 33 insertions(+), 88 deletions(-)

diff --git a/interfaces/vrep/DQ_SerialVrepRobot.m b/interfaces/vrep/DQ_SerialVrepRobot.m
index a6b92c71..5b339a4c 100644
--- a/interfaces/vrep/DQ_SerialVrepRobot.m
+++ b/interfaces/vrep/DQ_SerialVrepRobot.m
@@ -94,9 +94,6 @@
             for i=1:robot_dof
                 current_joint_name = {robot_label,'_joint',int2str(i),'#',robot_index};
                 obj.joint_names{i} = strjoin(current_joint_name,'');
-
-                current_link_name = {robot_label,'_link',int2str(i+1),'#',robot_index};
-                obj.link_names{i} = strjoin(current_link_name,'');
             end
             obj.base_frame_name = obj.joint_names{1};
         end
diff --git a/interfaces/vrep/robots/LBR4pVrepRobot.m b/interfaces/vrep/robots/LBR4pVrepRobot.m
index 6e1be7cc..d0b71d5b 100644
--- a/interfaces/vrep/robots/LBR4pVrepRobot.m
+++ b/interfaces/vrep/robots/LBR4pVrepRobot.m
@@ -41,67 +41,21 @@
 % DQ Robotics website: dqrobotics.sourceforge.net
 %
 % Contributors to this file:
-%     Murilo Marques Marinho - murilo@nml.t.u-tokyo.ac.jp
+%     1. Murilo Marques Marinho - murilo@nml.t.u-tokyo.ac.jp
+%        - Responsible for the original implementation
+%     2. Frederico Fernandes Afonso Silva (frederico.silva@ieee.org)
+%        - Updated for compatibility with the DQ_SerialVrepRobot class.
 
-classdef LBR4pVrepRobot < DQ_VrepRobot
-    
-    properties
-        joint_names;
-        base_frame_name;
-    end
-    
+classdef LBR4pVrepRobot < DQ_SerialVrepRobot
     methods
-        function obj = LBR4pVrepRobot(robot_name,vrep_interface)
-            %% Constructs an instance of a LBR4pVrepRobot
-            %  >> vi = VrepInterface()
-            %  >> vi.connect('127.0.0.1',19997);
-            %  >> robot = LBR4pVrepRobot("LBR4p", vi)
-            obj.robot_name = robot_name;
-            obj.vrep_interface = vrep_interface;
-            
-            % From the second copy of the robot and onward, VREP appends a
-            % #number in the robot's name. We check here if the robot is
-            % called by the correct name and assign an index that will be
-            % used to correctly infer the robot's joint labels.
-            splited_name = strsplit(robot_name,'#');
-            robot_label = splited_name{1};
-            if ~strcmp(robot_label,'LBR4p')
-                error('Expected LBR4p')
-            end
-            if length(splited_name) > 1
-                robot_index = splited_name{2};
-            else
-                robot_index = '';
-            end
-            
-            % Initialize joint names and base frame
-            obj.joint_names = {};
-            for i=1:7
-                current_joint_name = {robot_label,'_joint',int2str(i),robot_index};
-                obj.joint_names{i} = strjoin(current_joint_name,'');
-            end
-            obj.base_frame_name = obj.joint_names{1};
-        end
-        
-        function send_q_to_vrep(obj,q)
-            %% Sends the joint configurations to VREP
-            %  >> vrep_robot = LBR4pVrepRobot("LBR4p", vi)
-            %  >> q = zeros(7,1);
-            %  >> vrep_robot.send_q_to_vrep(q)
-            obj.vrep_interface.set_joint_positions(obj.joint_names,q)
+        function obj = LBR4pVrepRobot(robot_name, vrep_interface)
+            obj@DQ_SerialVrepRobot("LBR4p", 7, robot_name, vrep_interface);
         end
-        
-        function q = get_q_from_vrep(obj)
-            %% Obtains the joint configurations from VREP
-            %  >> vrep_robot = LBR4pVrepRobot("LBR4p", vi)
-            %  >> q = vrep_robot.get_q_from_vrep(q)
-            q = obj.vrep_interface.get_joint_positions(obj.joint_names);
-        end
-        
+
         function kin = kinematics(obj)
             %% Obtains the DQ_SerialManipulator instance that represents this LBR4p robot.
-            %  >> vrep_robot = LBR4pVrepRobot("LBR4p", vi)
-            %  >> robot_kinematics = vrep_robot.kinematics()
+            %  >> vrep_robot = LBR4pVrepRobot("LBR4p", vi);
+            %  >> robot_kinematics = vrep_robot.kinematics();
             
             LBR4p_DH_theta=[0, 0, 0, 0, 0, 0, 0];
             LBR4p_DH_d = [0.200, 0, 0.4, 0, 0.39, 0, 0];
@@ -119,8 +73,7 @@ function send_q_to_vrep(obj,q)
             kin.set_reference_frame(obj.vrep_interface.get_object_pose(obj.base_frame_name));
             kin.set_base_frame(obj.vrep_interface.get_object_pose(obj.base_frame_name));
             kin.set_effector(1+0.5*DQ.E*DQ.k*0.07);
-        end
-        
+        end        
     end
 end
 
diff --git a/interfaces/vrep/robots/YouBotVrepRobot.m b/interfaces/vrep/robots/YouBotVrepRobot.m
index c63b408a..829eff6d 100644
--- a/interfaces/vrep/robots/YouBotVrepRobot.m
+++ b/interfaces/vrep/robots/YouBotVrepRobot.m
@@ -17,8 +17,8 @@
 %       will become "youBot#0", a third robot, "youBot#1", and so on.
 %
 %   YouBotVrepRobot Methods:
-%       send_q_to_vrep - Sends the joint configurations to VREP
-%       get_q_from_vrep - Obtains the joint configurations from VREP
+%       set_configuration_space_positions - Sends the joint configurations to VREP
+%       get_configuration_space_positions - Obtains the joint configurations from VREP
 %       kinematics - Obtains the DQ_Kinematics implementation of this robot
 
 % (C) Copyright 2020 DQ Robotics Developers
@@ -41,28 +41,18 @@
 % DQ Robotics website: dqrobotics.sourceforge.net
 %
 % Contributors to this file:
-%     Murilo Marques Marinho - murilo@nml.t.u-tokyo.ac.jp
+%     1. Murilo Marques Marinho - murilo@nml.t.u-tokyo.ac.jp
+%        - Responsible for the original implementation
+%     2. Frederico Fernandes Afonso Silva (frederico.silva@ieee.org)
+%        - Updated for compatibility with the DQ_SerialVrepRobot class.
 
-classdef YouBotVrepRobot < DQ_VrepRobot
-    
-    properties
-        joint_names;
-        base_frame_name;
-    end
-    
+classdef YouBotVrepRobot < DQ_SerialVrepRobot    
     properties (Constant)
         adjust = ((cos(pi/2) + DQ.i*sin(pi/2)) * (cos(pi/4) + DQ.j*sin(pi/4)))*(1+0.5*DQ.E*-0.1*DQ.k);
     end
-    
-    methods
-        function obj = YouBotVrepRobot(robot_name,vrep_interface)
-            %% Constructs an instance of a YouBotVrepRobot
-            %  >> vi = VrepInterface()
-            %  >> vi.connect('127.0.0.1',19997);
-            %  >> robot = YouBotVrepRobot("youBot", vi)
-            obj.robot_name = robot_name;
-            obj.vrep_interface = vrep_interface;
-            
+
+    methods (Access = protected)
+        function set_names(robot_name)
             % From the second copy of the robot and onward, VREP appends a
             % #number in the robot's name. We check here if the robot is
             % called by the correct name and assign an index that will be
@@ -84,14 +74,20 @@
                 current_joint_name = {robot_label,'ArmJoint',int2str(i-1),robot_index};
                 obj.joint_names{i} = strjoin(current_joint_name,'');
             end
-            obj.base_frame_name = robot_name;
+        end
+    end
+    
+    methods
+        function obj = YouBotVrepRobot(robot_name, vrep_interface)
+            obj@DQ_SerialVrepRobot("youBot", 7, robot_name, vrep_interface);
+            obj.set_names(robot_name);
         end
         
-        function send_q_to_vrep(obj,q)
+        function set_configuration_space_positions(obj,q)
             %% Sends the joint configurations to VREP
             %  >> vrep_robot = YouBotVrepRobot("youBot", vi)
             %  >> q = zeros(8,1);
-            %  >> vrep_robot.send_q_to_vrep(q)
+            %  >> vrep_robot.set_configuration_space_positions(q)
             x = q(1);
             y = q(2);
             phi = q(3);
@@ -104,10 +100,10 @@ function send_q_to_vrep(obj,q)
             obj.vrep_interface.set_object_pose(obj.base_frame_name, pose * obj.adjust');
         end
         
-        function q = get_q_from_vrep(obj)
+        function q = get_configuration_space_positions(obj)
             %% Obtains the joint configurations from VREP
             %  >> vrep_robot = YouBotVrepRobot("youBot", vi)
-            %  >> q = vrep_robot.get_q_from_vrep(q)
+            %  >> q = vrep_robot.get_configuration_space_positions(q)
             base_x = obj.vrep_interface.get_object_pose(obj.base_frame_name) * obj.adjust;
             base_t = vec3(translation(base_x));
             base_phi = rotation_angle(rotation(base_x));
@@ -150,8 +146,7 @@ function send_q_to_vrep(obj,q)
             
             effector = 1 + E_*0.5*0.3*k_;
             kin.set_effector(effector);
-        end
-        
+        end        
     end
 end
 

From 7afe99fd5d76543c32c9f6d180494fbfa3607b9d Mon Sep 17 00:00:00 2001
From: Frederico Afonso <frederico.fernandes.afonso@gmail.com>
Date: Fri, 26 Jan 2024 16:05:19 +0000
Subject: [PATCH 03/32] Fixed a problem with joint naming on the classes
 'YouBotVrepRobot' and 'DQ_SerialVrepRobot'.

---
 interfaces/vrep/DQ_SerialVrepRobot.m     |  2 +-
 interfaces/vrep/robots/YouBotVrepRobot.m | 16 ++++++----------
 2 files changed, 7 insertions(+), 11 deletions(-)

diff --git a/interfaces/vrep/DQ_SerialVrepRobot.m b/interfaces/vrep/DQ_SerialVrepRobot.m
index 5b339a4c..1853a748 100644
--- a/interfaces/vrep/DQ_SerialVrepRobot.m
+++ b/interfaces/vrep/DQ_SerialVrepRobot.m
@@ -92,7 +92,7 @@
             % Initialize joint names, link names, and base frame name
             obj.joint_names = {};
             for i=1:robot_dof
-                current_joint_name = {robot_label,'_joint',int2str(i),'#',robot_index};
+                current_joint_name = {robot_label,'_joint',int2str(i),robot_index};
                 obj.joint_names{i} = strjoin(current_joint_name,'');
             end
             obj.base_frame_name = obj.joint_names{1};
diff --git a/interfaces/vrep/robots/YouBotVrepRobot.m b/interfaces/vrep/robots/YouBotVrepRobot.m
index 829eff6d..8b48272d 100644
--- a/interfaces/vrep/robots/YouBotVrepRobot.m
+++ b/interfaces/vrep/robots/YouBotVrepRobot.m
@@ -50,9 +50,12 @@
     properties (Constant)
         adjust = ((cos(pi/2) + DQ.i*sin(pi/2)) * (cos(pi/4) + DQ.j*sin(pi/4)))*(1+0.5*DQ.E*-0.1*DQ.k);
     end
-
-    methods (Access = protected)
-        function set_names(robot_name)
+    
+    methods
+        function obj = YouBotVrepRobot(robot_name, vrep_interface)
+            obj@DQ_SerialVrepRobot("youBot", 7, robot_name, vrep_interface);
+            
+            %% youBot don't follow the standard name convention on CoppeliaSim. Also, the use of 'set_names()', as is done in the C++ implementation, is not supported on a constructor in MATLAB
             % From the second copy of the robot and onward, VREP appends a
             % #number in the robot's name. We check here if the robot is
             % called by the correct name and assign an index that will be
@@ -75,13 +78,6 @@ function set_names(robot_name)
                 obj.joint_names{i} = strjoin(current_joint_name,'');
             end
         end
-    end
-    
-    methods
-        function obj = YouBotVrepRobot(robot_name, vrep_interface)
-            obj@DQ_SerialVrepRobot("youBot", 7, robot_name, vrep_interface);
-            obj.set_names(robot_name);
-        end
         
         function set_configuration_space_positions(obj,q)
             %% Sends the joint configurations to VREP

From 0588c2a1c620742ebef8be262a5c31e944eedb0b Mon Sep 17 00:00:00 2001
From: Frederico Afonso <frederico.fernandes.afonso@gmail.com>
Date: Wed, 3 Apr 2024 14:50:19 +0100
Subject: [PATCH 04/32] [DQ_SerialVrepRobot] Improved documentation of
 DQ_SerialVrepRobot's methods on the class header.

---
 interfaces/vrep/DQ_SerialVrepRobot.m | 21 ++++++++++++++-------
 1 file changed, 14 insertions(+), 7 deletions(-)

diff --git a/interfaces/vrep/DQ_SerialVrepRobot.m b/interfaces/vrep/DQ_SerialVrepRobot.m
index 1853a748..5cb20db3 100644
--- a/interfaces/vrep/DQ_SerialVrepRobot.m
+++ b/interfaces/vrep/DQ_SerialVrepRobot.m
@@ -3,24 +3,31 @@
 %
 % Usage:
 %       1) Drag-and-drop a serial robot to a VREP scene. For instance, a
-%       "LBR4p" robot.
+%       "my_robot" robot.
 %       2) Run
 %           >> vi = DQ_VrepInterface();
 %           >> vi.connect('127.0.0.1',19997);
-%           >> vrep_robot = LBR4pVrepRobot("LBR4p", vi);
+%           >> vrep_robot = DQ_SerialVrepRobot("my_robot", 7, "my_robot", vi);
 %           >> vi.start_simulation();
-%           >> robot.get_q_from_vrep();
+%           >> vrep_robot.get_q_from_vrep();
 %           >> pause(1);
 %           >> vi.stop_simulation();
 %           >> vi.disconnect();
 %       Note that the name of the robot should be EXACTLY the same as in
 %       VREP. For instance, if you drag-and-drop a second robot, its name
-%       will become "LBR4p#0", a third robot, "LBR4p#1", and so on.
+%       will become "my_robot#0", a third robot, "my_robot#1", and so on.
 %
 %   DQ_SerialVrepRobot Methods:
-%       send_q_to_vrep - Sends the joint configurations to VREP
-%       get_q_from_vrep - Obtains the joint configurations from VREP
-%       kinematics - Obtains the DQ_Kinematics implementation of this robot
+%       get_joint_names - Gets the joint names of the robot in the CoppeliaSim scene.
+%       set_configuration_space_positions - Sets the joint configurations to the robot in the CoppeliaSim scene.
+%       get_configuration_space_positions - Gets the joint configurations of the robot in the CoppeliaSim scene.
+%       set_target_configuration_space_positions - Sets the joint configurations to the robot in the CoppeliaSim scene as a target configuration for the joint controllers.
+%       get_configuration_space_velocities - Gets the joint velocities of the robot in the CoppeliaSim scene.
+%       set_target_configuration_space_velocities - Sets the joint velocities of the robot in the CoppeliaSim scene as a target velocity for the joint controllers.
+%       set_configuration_space_torques - Sets the joint torques of the robot in the CoppeliaSim scene.
+%       get_configuration_space_torques - Gets the joint torques of the robot in the CoppeliaSim scene.
+%   DQ_SerialVrepRobot Methods (Protected):
+%       update_manipulator_dynamic_parameters - Updates the dynamic parameters of the serial robot in the CoppeliaSim scene
 
 % (C) Copyright 2018-2023 DQ Robotics Developers
 %

From 0fd50ac04e454399a7b2d588758ee59b7cb2e533 Mon Sep 17 00:00:00 2001
From: Frederico Afonso <frederico.fernandes.afonso@gmail.com>
Date: Tue, 23 Jul 2024 13:37:25 +0100
Subject: [PATCH 05/32] [DQ_SerialVrepRobot.m] Removed old comment refering to
 'get_q_from_vrep()' method.

---
 interfaces/vrep/DQ_SerialVrepRobot.m | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/interfaces/vrep/DQ_SerialVrepRobot.m b/interfaces/vrep/DQ_SerialVrepRobot.m
index 5cb20db3..ecd0e359 100644
--- a/interfaces/vrep/DQ_SerialVrepRobot.m
+++ b/interfaces/vrep/DQ_SerialVrepRobot.m
@@ -9,7 +9,7 @@
 %           >> vi.connect('127.0.0.1',19997);
 %           >> vrep_robot = DQ_SerialVrepRobot("my_robot", 7, "my_robot", vi);
 %           >> vi.start_simulation();
-%           >> vrep_robot.get_q_from_vrep();
+%           >> vrep_robot.get_configuration_space_positions();
 %           >> pause(1);
 %           >> vi.stop_simulation();
 %           >> vi.disconnect();

From ef3869349e089c0eed2b1147cb312e60bb413e87 Mon Sep 17 00:00:00 2001
From: Frederico Afonso <frederico.fernandes.afonso@gmail.com>
Date: Tue, 23 Jul 2024 13:40:12 +0100
Subject: [PATCH 06/32] [DQ_SerialVrepRobot.m] Updated copyright's year.

---
 interfaces/vrep/DQ_SerialVrepRobot.m | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/interfaces/vrep/DQ_SerialVrepRobot.m b/interfaces/vrep/DQ_SerialVrepRobot.m
index ecd0e359..bff1cfbd 100644
--- a/interfaces/vrep/DQ_SerialVrepRobot.m
+++ b/interfaces/vrep/DQ_SerialVrepRobot.m
@@ -29,7 +29,7 @@
 %   DQ_SerialVrepRobot Methods (Protected):
 %       update_manipulator_dynamic_parameters - Updates the dynamic parameters of the serial robot in the CoppeliaSim scene
 
-% (C) Copyright 2018-2023 DQ Robotics Developers
+% (C) Copyright 2018-2024 DQ Robotics Developers
 %
 % This file is part of DQ Robotics.
 %

From 217f7cd0eb805b6b3cb79756f271f0f5979775f8 Mon Sep 17 00:00:00 2001
From: Frederico Afonso <frederico.fernandes.afonso@gmail.com>
Date: Tue, 23 Jul 2024 13:47:00 +0100
Subject: [PATCH 07/32] [DQ_SerialVrepRobot.m] Added reference to C++ version.

---
 interfaces/vrep/DQ_SerialVrepRobot.m | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/interfaces/vrep/DQ_SerialVrepRobot.m b/interfaces/vrep/DQ_SerialVrepRobot.m
index bff1cfbd..d89cd8f5 100644
--- a/interfaces/vrep/DQ_SerialVrepRobot.m
+++ b/interfaces/vrep/DQ_SerialVrepRobot.m
@@ -50,7 +50,9 @@
 %
 % Contributors to this file:
 %     1. Frederico Fernandes Afonso Silva (frederico.silva@ieee.org)
-%        - Responsible for the original implementation.
+%        - Responsible for the original implementation, based on the C++ version:
+%           - DQ_VrepInterface.h: https://github.com/dqrobotics/cpp-interface-vrep/blob/master/include/dqrobotics/interfaces/vrep/DQ_VrepInterface.h
+%           - DQ_SerialVrepRobot.cpp: https://github.com/dqrobotics/cpp-interface-vrep/blob/master/src/dqrobotics/interfaces/vrep/DQ_SerialVrepRobot.cpp
 
 classdef DQ_SerialVrepRobot < DQ_VrepRobot
     properties

From aa73594843477cc3a31225e2eea32d659d33df2f Mon Sep 17 00:00:00 2001
From: Frederico Afonso <frederico.fernandes.afonso@gmail.com>
Date: Tue, 23 Jul 2024 13:53:19 +0100
Subject: [PATCH 08/32] [DQ_SerialVrepRobot.m] Text fixes in the 'set' methods
 comments.

---
 interfaces/vrep/DQ_SerialVrepRobot.m | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/interfaces/vrep/DQ_SerialVrepRobot.m b/interfaces/vrep/DQ_SerialVrepRobot.m
index d89cd8f5..5d7f3706 100644
--- a/interfaces/vrep/DQ_SerialVrepRobot.m
+++ b/interfaces/vrep/DQ_SerialVrepRobot.m
@@ -19,9 +19,9 @@
 %
 %   DQ_SerialVrepRobot Methods:
 %       get_joint_names - Gets the joint names of the robot in the CoppeliaSim scene.
-%       set_configuration_space_positions - Sets the joint configurations to the robot in the CoppeliaSim scene.
+%       set_configuration_space_positions - Sets the joint configurations of the robot in the CoppeliaSim scene.
 %       get_configuration_space_positions - Gets the joint configurations of the robot in the CoppeliaSim scene.
-%       set_target_configuration_space_positions - Sets the joint configurations to the robot in the CoppeliaSim scene as a target configuration for the joint controllers.
+%       set_target_configuration_space_positions - Sets the joint configurations of the robot in the CoppeliaSim scene as a target configuration for the joint controllers.
 %       get_configuration_space_velocities - Gets the joint velocities of the robot in the CoppeliaSim scene.
 %       set_target_configuration_space_velocities - Sets the joint velocities of the robot in the CoppeliaSim scene as a target velocity for the joint controllers.
 %       set_configuration_space_torques - Sets the joint torques of the robot in the CoppeliaSim scene.
@@ -122,7 +122,7 @@
         end
 
         function set_configuration_space_positions(obj, q)
-            % This method sets the joint configurations to the robot in the CoppeliaSim scene.
+            % This method sets the joint configurations of the robot in the CoppeliaSim scene.
             % Usage:
             %     set_configuration_space_positions(q);  
             %          q: The joint configurations of the robot in the CoppeliaSim scene.
@@ -155,7 +155,7 @@ function set_configuration_space_positions(obj, q)
         end
 
         function set_target_configuration_space_positions(obj, q_target)
-            % This method sets the joint configurations to the robot in the CoppeliaSim scene as a target configuration for the joint controllers.
+            % This method sets the joint configurations of the robot in the CoppeliaSim scene as a target configuration for the joint controllers.
             % Usage:
             %     set_target_configuration_space_positions(q);  
             %          q_target: The target joint configurations of the robot in the CoppeliaSim scene.

From 3c4d66e9f1c4d12fd2d9ec61fb1274f7c845fed6 Mon Sep 17 00:00:00 2001
From: Frederico Afonso <frederico.fernandes.afonso@gmail.com>
Date: Tue, 23 Jul 2024 14:08:38 +0100
Subject: [PATCH 09/32] [DQ_SerialVrepRobot.m] Updated specifications of the
 joint modes in the methods's comments.

---
 interfaces/vrep/DQ_SerialVrepRobot.m | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/interfaces/vrep/DQ_SerialVrepRobot.m b/interfaces/vrep/DQ_SerialVrepRobot.m
index 5d7f3706..a5ce3681 100644
--- a/interfaces/vrep/DQ_SerialVrepRobot.m
+++ b/interfaces/vrep/DQ_SerialVrepRobot.m
@@ -135,7 +135,7 @@ function set_configuration_space_positions(obj, q)
             %     vrep_robot.set_configuration_space_positions(q);
             %     
             %     Note that this calls "set_joint_positions" in the remoteAPI, meaning that it
-            %     is only suitable for passive joints.
+            %     is only suitable for joints in kinematic mode.
 
             obj.vrep_interface.set_joint_positions(obj.joint_names, q)
         end
@@ -168,7 +168,7 @@ function set_target_configuration_space_positions(obj, q_target)
             %     vrep_robot.set_target_configuration_space_positions(q_target);
             %     
             %     Note that this calls "set_joint_target_positions" in the remoteAPI, meaning that it
-            %     is only suitable for active joints.
+            %     is only suitable for joints in dynamic mode with position control.
 
             obj.vrep_interface.set_joint_target_positions(obj.joint_names, q_target)
         end
@@ -201,7 +201,7 @@ function set_target_configuration_space_velocities(obj, v_target)
             %     vrep_robot.set_target_configuration_space_velocities(v_target);
             %     
             %     Note that this calls "set_joint_target_velocities" in the remoteAPI, meaning that it
-            %     is only suitable for active joints.
+            %     is only suitable for joints in dynamic mode with velocity control.
 
             obj.vrep_interface.set_joint_target_velocities(obj.joint_names, v_target);
         end
@@ -220,7 +220,7 @@ function set_configuration_space_torques(obj,tau)
             %     vrep_robot.set_configuration_space_torques(tau);
             %     
             %     Note that this calls "set_joint_torques" in the remoteAPI, meaning that it
-            %     is only suitable for active joints.
+            %     is only suitable for joints in dynamic mode with force/torque control.
 
             obj.vrep_interface.set_joint_torques(obj.joint_names,tau)
         end

From e0f1a983b8813bc7a153e034f163b04f0c997ff5 Mon Sep 17 00:00:00 2001
From: Frederico Afonso <frederico.fernandes.afonso@gmail.com>
Date: Tue, 23 Jul 2024 14:19:55 +0100
Subject: [PATCH 10/32] [DQ_SerialVrepRobot.m] Fixed copy and paste gore in the
 methods' usage comments.

---
 interfaces/vrep/DQ_SerialVrepRobot.m | 14 +++++++-------
 1 file changed, 7 insertions(+), 7 deletions(-)

diff --git a/interfaces/vrep/DQ_SerialVrepRobot.m b/interfaces/vrep/DQ_SerialVrepRobot.m
index a5ce3681..aa481702 100644
--- a/interfaces/vrep/DQ_SerialVrepRobot.m
+++ b/interfaces/vrep/DQ_SerialVrepRobot.m
@@ -134,7 +134,7 @@ function set_configuration_space_positions(obj, q)
             %     q = zeros(7,1);
             %     vrep_robot.set_configuration_space_positions(q);
             %     
-            %     Note that this calls "set_joint_positions" in the remoteAPI, meaning that it
+            %     Note that this calls "set_joint_positions" in DQ_VrepInterface, meaning that it
             %     is only suitable for joints in kinematic mode.
 
             obj.vrep_interface.set_joint_positions(obj.joint_names, q)
@@ -157,7 +157,7 @@ function set_configuration_space_positions(obj, q)
         function set_target_configuration_space_positions(obj, q_target)
             % This method sets the joint configurations of the robot in the CoppeliaSim scene as a target configuration for the joint controllers.
             % Usage:
-            %     set_target_configuration_space_positions(q);  
+            %     set_target_configuration_space_positions(q_target);  
             %          q_target: The target joint configurations of the robot in the CoppeliaSim scene.
             %
             % Example: 
@@ -167,7 +167,7 @@ function set_target_configuration_space_positions(obj, q_target)
             %     q_target = zeros(7,1);
             %     vrep_robot.set_target_configuration_space_positions(q_target);
             %     
-            %     Note that this calls "set_joint_target_positions" in the remoteAPI, meaning that it
+            %     Note that this calls "set_joint_target_positions" in DQ_VrepInterface, meaning that it
             %     is only suitable for joints in dynamic mode with position control.
 
             obj.vrep_interface.set_joint_target_positions(obj.joint_names, q_target)
@@ -190,7 +190,7 @@ function set_target_configuration_space_positions(obj, q_target)
         function set_target_configuration_space_velocities(obj, v_target)
             % This method sets the joint velocities of the robot in the CoppeliaSim scene as a target velocity for the joint controllers.
             % Usage:
-            %     set_target_configuration_space_positions(q);  
+            %     set_target_configuration_space_velocities(v_target);  
             %          v_target: The target joint velocities of the robot in the CoppeliaSim scene.
             %
             % Example: 
@@ -200,7 +200,7 @@ function set_target_configuration_space_velocities(obj, v_target)
             %     v_target = zeros(7,1);
             %     vrep_robot.set_target_configuration_space_velocities(v_target);
             %     
-            %     Note that this calls "set_joint_target_velocities" in the remoteAPI, meaning that it
+            %     Note that this calls "set_joint_target_velocities" in DQ_VrepInterface, meaning that it
             %     is only suitable for joints in dynamic mode with velocity control.
 
             obj.vrep_interface.set_joint_target_velocities(obj.joint_names, v_target);
@@ -209,7 +209,7 @@ function set_target_configuration_space_velocities(obj, v_target)
         function set_configuration_space_torques(obj,tau)
             % This method sets the joint torques of the robot in the CoppeliaSim scene.
             % Usage:
-            %     set_target_configuration_space_positions(q);  
+            %     set_configuration_space_torques(tau);  
             %          tau: The joint torques of the robot in the CoppeliaSim scene.
             %
             % Example: 
@@ -219,7 +219,7 @@ function set_configuration_space_torques(obj,tau)
             %     tau = zeros(7,1);
             %     vrep_robot.set_configuration_space_torques(tau);
             %     
-            %     Note that this calls "set_joint_torques" in the remoteAPI, meaning that it
+            %     Note that this calls "set_joint_torques" in DQ_VrepInterface, meaning that it
             %     is only suitable for joints in dynamic mode with force/torque control.
 
             obj.vrep_interface.set_joint_torques(obj.joint_names,tau)

From a02ad1ba01016269077e04b6465c43d803049bd1 Mon Sep 17 00:00:00 2001
From: Frederico Afonso <frederico.fernandes.afonso@gmail.com>
Date: Tue, 23 Jul 2024 14:52:16 +0100
Subject: [PATCH 11/32] [DQ_VrepRobot.m] Added backwards compatibility for
 methods 'send_q_to_vrep()' and 'get_q_from_vrep()'.

---
 interfaces/vrep/DQ_VrepRobot.m | 24 ++++++++++++++++++++----
 1 file changed, 20 insertions(+), 4 deletions(-)

diff --git a/interfaces/vrep/DQ_VrepRobot.m b/interfaces/vrep/DQ_VrepRobot.m
index 93bf81b6..8e1e9911 100644
--- a/interfaces/vrep/DQ_VrepRobot.m
+++ b/interfaces/vrep/DQ_VrepRobot.m
@@ -33,10 +33,10 @@
 %     1. Murilo Marques Marinho - murilo@nml.t.u-tokyo.ac.jp
 %       - Responsible for the original implementation.
 %     2. Frederico Fernandes Afonso Silva (frederico.silva@ieee.org)
-%       - Altered the names of the following methods to ensure
-%       compatibility with the C++ version of the class:
-%             - 'send_q_to_vrep' became 'set_configuration_space_positions'
-%             - 'get_q_from_vrep' became 'get_configuration_space_positions'
+%       - Deprecated the following methods to ensure compatibility with the
+%       C++ version of the class:
+%             - 'send_q_to_vrep'
+%             - 'get_q_from_vrep'
 %       - Removed the following methods to ensure compatibility with the
 %       C++ version of the class:
 %             - 'kinematics'
@@ -52,5 +52,21 @@
         set_configuration_space_positions(obj,q);
         q = get_configuration_space_positions(obj);
     end
+
+    methods
+        function send_q_to_vrep(obj, q)
+            % For backwards compatibility only. Do not use this method.
+
+            warning('Deprecated. Use set_configuration_space_positions() instead.')
+            obj.set_configuration_space_positions(q)
+        end
+
+        function q = get_q_from_vrep(obj)
+            % For backwards compatibility only. Do not use this method.
+
+            warning('Deprecated. Use get_configuration_space_positions() instead.')
+            q = obj.get_configuration_space_positions();
+        end
+    end
 end
 

From 33147dec4043ccd2f855c737389c16affd7ee7c7 Mon Sep 17 00:00:00 2001
From: Frederico Afonso <frederico.fernandes.afonso@gmail.com>
Date: Tue, 23 Jul 2024 15:06:56 +0100
Subject: [PATCH 12/32] [LBR4pVrepRobot.m] Updated usage and methods sections.
 Also updated copyright's year.

---
 interfaces/vrep/robots/LBR4pVrepRobot.m | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/interfaces/vrep/robots/LBR4pVrepRobot.m b/interfaces/vrep/robots/LBR4pVrepRobot.m
index d0b71d5b..9c235aef 100644
--- a/interfaces/vrep/robots/LBR4pVrepRobot.m
+++ b/interfaces/vrep/robots/LBR4pVrepRobot.m
@@ -8,7 +8,7 @@
 %           >> vi.connect('127.0.0.1',19997);
 %           >> vrep_robot = LBR4pVrepRobot("LBR4p", vi);
 %           >> vi.start_simulation();
-%           >> robot.get_q_from_vrep();
+%           >> robot.get_configuration_space_positions();
 %           >> pause(1);
 %           >> vi.stop_simulation();
 %           >> vi.disconnect();
@@ -17,8 +17,6 @@
 %       will become "LBR4p#0", a third robot, "LBR4p#1", and so on.
 %
 %   LBR4pVrepRobot Methods:
-%       send_q_to_vrep - Sends the joint configurations to VREP
-%       get_q_from_vrep - Obtains the joint configurations from VREP
 %       kinematics - Obtains the DQ_Kinematics implementation of this robot
 
 % (C) Copyright 2020 DQ Robotics Developers

From ec0901f1c6537dde2499ad218ae281938d45b662 Mon Sep 17 00:00:00 2001
From: Frederico Afonso <frederico.fernandes.afonso@gmail.com>
Date: Tue, 23 Jul 2024 15:11:34 +0100
Subject: [PATCH 13/32] [LBR4pVrepRobot.m] Updated copyright's year.

---
 interfaces/vrep/robots/LBR4pVrepRobot.m | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/interfaces/vrep/robots/LBR4pVrepRobot.m b/interfaces/vrep/robots/LBR4pVrepRobot.m
index 9c235aef..ca9884bd 100644
--- a/interfaces/vrep/robots/LBR4pVrepRobot.m
+++ b/interfaces/vrep/robots/LBR4pVrepRobot.m
@@ -19,7 +19,7 @@
 %   LBR4pVrepRobot Methods:
 %       kinematics - Obtains the DQ_Kinematics implementation of this robot
 
-% (C) Copyright 2020 DQ Robotics Developers
+% (C) Copyright 2018-2024 DQ Robotics Developers
 %
 % This file is part of DQ Robotics.
 %

From de2dc64ea617b2860a97ac7c5aa278c72396371f Mon Sep 17 00:00:00 2001
From: Frederico Afonso <frederico.fernandes.afonso@gmail.com>
Date: Tue, 23 Jul 2024 15:13:35 +0100
Subject: [PATCH 14/32] [YouBotVrepRobot.m] Updated usage section and
 copyright's year.

---
 interfaces/vrep/robots/YouBotVrepRobot.m | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/interfaces/vrep/robots/YouBotVrepRobot.m b/interfaces/vrep/robots/YouBotVrepRobot.m
index 8b48272d..063e1e80 100644
--- a/interfaces/vrep/robots/YouBotVrepRobot.m
+++ b/interfaces/vrep/robots/YouBotVrepRobot.m
@@ -8,7 +8,7 @@
 %           >> vi.connect('127.0.0.1',19997);
 %           >> vrep_robot = YouBotVrepRobot("youBot", vi);
 %           >> vi.start_simulation();
-%           >> robot.get_q_from_vrep();
+%           >> robot.get_configuration_space_positions();
 %           >> pause(1);
 %           >> vi.stop_simulation();
 %           >> vi.disconnect();
@@ -21,7 +21,7 @@
 %       get_configuration_space_positions - Obtains the joint configurations from VREP
 %       kinematics - Obtains the DQ_Kinematics implementation of this robot
 
-% (C) Copyright 2020 DQ Robotics Developers
+% (C) Copyright 2018-2024 DQ Robotics Developers
 %
 % This file is part of DQ Robotics.
 %

From 1a2b7670fb62934ff21c42f1d482674cba0cae1d Mon Sep 17 00:00:00 2001
From: Frederico Afonso <frederico.fernandes.afonso@gmail.com>
Date: Tue, 23 Jul 2024 15:43:12 +0100
Subject: [PATCH 15/32] [DQ_VrepRobot.m] Updated methods section and
 copyright's year.

---
 interfaces/vrep/DQ_VrepRobot.m | 10 ++++------
 1 file changed, 4 insertions(+), 6 deletions(-)

diff --git a/interfaces/vrep/DQ_VrepRobot.m b/interfaces/vrep/DQ_VrepRobot.m
index 8e1e9911..f10e8841 100644
--- a/interfaces/vrep/DQ_VrepRobot.m
+++ b/interfaces/vrep/DQ_VrepRobot.m
@@ -4,13 +4,11 @@
 % Usage:
 %   Inherit from this class and implement the abstract methods.
 %
-%   DQ_VrepRobot Methods:
-%       send_q_to_vrep - Sends the joint configurations to VREP
-%       get_q_from_vrep - Obtains the joint configurations from VREP
-%       kinematics - Obtains the DQ_Kinematics implementation of this
-%       robot
+%   DQ_VrepRobot Methods (Abstract):
+%       set_configuration_space_positions - Sends the joint configurations to VREP
+%       get_configuration_space_positions - Obtains the joint configurations from VREP
 
-% (C) Copyright 2020 DQ Robotics Developers
+% (C) Copyright 2018-2024 DQ Robotics Developers
 %
 % This file is part of DQ Robotics.
 %

From fa35f1bd334ede9c8bd6aadb1fcc0d504edc1786 Mon Sep 17 00:00:00 2001
From: Frederico Afonso <frederico.fernandes.afonso@gmail.com>
Date: Mon, 29 Jul 2024 11:14:19 +0100
Subject: [PATCH 16/32] [YouBotVrepRobot.m] Small text fix in the constructor's
 comments.

---
 interfaces/vrep/robots/YouBotVrepRobot.m | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/interfaces/vrep/robots/YouBotVrepRobot.m b/interfaces/vrep/robots/YouBotVrepRobot.m
index 063e1e80..6415bb4c 100644
--- a/interfaces/vrep/robots/YouBotVrepRobot.m
+++ b/interfaces/vrep/robots/YouBotVrepRobot.m
@@ -55,7 +55,7 @@
         function obj = YouBotVrepRobot(robot_name, vrep_interface)
             obj@DQ_SerialVrepRobot("youBot", 7, robot_name, vrep_interface);
             
-            %% youBot don't follow the standard name convention on CoppeliaSim. Also, the use of 'set_names()', as is done in the C++ implementation, is not supported on a constructor in MATLAB
+            %% youBot does not follow the standard naming convention in CoppeliaSim. Also, the use of 'set_names()', as is done in the C++ implementation, is not supported on a constructor in MATLAB
             % From the second copy of the robot and onward, VREP appends a
             % #number in the robot's name. We check here if the robot is
             % called by the correct name and assign an index that will be

From 7e30416726d694d6726ef796ab09c02ef689dd18 Mon Sep 17 00:00:00 2001
From: Frederico Afonso <frederico.fernandes.afonso@gmail.com>
Date: Tue, 6 Aug 2024 16:16:24 +0100
Subject: [PATCH 17/32] [YouBotVrepRobot.m] Fixed small wrong number of joints
 and missing custom 'base_frame_name' in the constructor.

---
 interfaces/vrep/robots/YouBotVrepRobot.m | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/interfaces/vrep/robots/YouBotVrepRobot.m b/interfaces/vrep/robots/YouBotVrepRobot.m
index 6415bb4c..80cdbef2 100644
--- a/interfaces/vrep/robots/YouBotVrepRobot.m
+++ b/interfaces/vrep/robots/YouBotVrepRobot.m
@@ -53,7 +53,7 @@
     
     methods
         function obj = YouBotVrepRobot(robot_name, vrep_interface)
-            obj@DQ_SerialVrepRobot("youBot", 7, robot_name, vrep_interface);
+            obj@DQ_SerialVrepRobot("youBot", 5, robot_name, vrep_interface);
             
             %% youBot does not follow the standard naming convention in CoppeliaSim. Also, the use of 'set_names()', as is done in the C++ implementation, is not supported on a constructor in MATLAB
             % From the second copy of the robot and onward, VREP appends a
@@ -77,6 +77,7 @@
                 current_joint_name = {robot_label,'ArmJoint',int2str(i-1),robot_index};
                 obj.joint_names{i} = strjoin(current_joint_name,'');
             end
+            obj.base_frame_name = robot_name;
         end
         
         function set_configuration_space_positions(obj,q)

From 107be2c48fde8a3670b5689d865f4825ae9929dc Mon Sep 17 00:00:00 2001
From: Frederico Fernandes Afonso Silva <frederico.fernandes.afonso@gmail.com>
Date: Thu, 15 Aug 2024 18:05:54 +0100
Subject: [PATCH 18/32] [DQ_SerialVrepRobot.m] Updated copyright date.

---
 interfaces/vrep/DQ_SerialVrepRobot.m | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/interfaces/vrep/DQ_SerialVrepRobot.m b/interfaces/vrep/DQ_SerialVrepRobot.m
index aa481702..20a66b9f 100644
--- a/interfaces/vrep/DQ_SerialVrepRobot.m
+++ b/interfaces/vrep/DQ_SerialVrepRobot.m
@@ -29,7 +29,7 @@
 %   DQ_SerialVrepRobot Methods (Protected):
 %       update_manipulator_dynamic_parameters - Updates the dynamic parameters of the serial robot in the CoppeliaSim scene
 
-% (C) Copyright 2018-2024 DQ Robotics Developers
+% (C) Copyright 2011-2024 DQ Robotics Developers
 %
 % This file is part of DQ Robotics.
 %

From c934c9cca0aed4d1327b7c9c18b07047b580702a Mon Sep 17 00:00:00 2001
From: Frederico Fernandes Afonso Silva <frederico.fernandes.afonso@gmail.com>
Date: Thu, 15 Aug 2024 22:07:23 +0100
Subject: [PATCH 19/32] [DQ_SerialVrepRobot.m] Updated usage comments.

---
 interfaces/vrep/DQ_SerialVrepRobot.m | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/interfaces/vrep/DQ_SerialVrepRobot.m b/interfaces/vrep/DQ_SerialVrepRobot.m
index 20a66b9f..9cdcdb63 100644
--- a/interfaces/vrep/DQ_SerialVrepRobot.m
+++ b/interfaces/vrep/DQ_SerialVrepRobot.m
@@ -9,7 +9,7 @@
 %           >> vi.connect('127.0.0.1',19997);
 %           >> vrep_robot = DQ_SerialVrepRobot("my_robot", 7, "my_robot", vi);
 %           >> vi.start_simulation();
-%           >> vrep_robot.get_configuration_space_positions();
+%           >> vrep_robot.get_configuration();
 %           >> pause(1);
 %           >> vi.stop_simulation();
 %           >> vi.disconnect();

From bee94d72953ad73df020f6e2cec14cbb5b9542f2 Mon Sep 17 00:00:00 2001
From: Frederico Fernandes Afonso Silva <frederico.fernandes.afonso@gmail.com>
Date: Thu, 15 Aug 2024 22:19:29 +0100
Subject: [PATCH 20/32] [DQ_SerialVrepRobot.m] Updated comment describing
 'get_configuration' method.

---
 interfaces/vrep/DQ_SerialVrepRobot.m | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/interfaces/vrep/DQ_SerialVrepRobot.m b/interfaces/vrep/DQ_SerialVrepRobot.m
index 9cdcdb63..92c1408d 100644
--- a/interfaces/vrep/DQ_SerialVrepRobot.m
+++ b/interfaces/vrep/DQ_SerialVrepRobot.m
@@ -20,7 +20,7 @@
 %   DQ_SerialVrepRobot Methods:
 %       get_joint_names - Gets the joint names of the robot in the CoppeliaSim scene.
 %       set_configuration_space_positions - Sets the joint configurations of the robot in the CoppeliaSim scene.
-%       get_configuration_space_positions - Gets the joint configurations of the robot in the CoppeliaSim scene.
+%       get_configuration - Gets the joint configurations of the robot in the CoppeliaSim scene.
 %       set_target_configuration_space_positions - Sets the joint configurations of the robot in the CoppeliaSim scene as a target configuration for the joint controllers.
 %       get_configuration_space_velocities - Gets the joint velocities of the robot in the CoppeliaSim scene.
 %       set_target_configuration_space_velocities - Sets the joint velocities of the robot in the CoppeliaSim scene as a target velocity for the joint controllers.

From c9ef19e7688698726c03b5f13f5deb7aa16abcdc Mon Sep 17 00:00:00 2001
From: Frederico Fernandes Afonso Silva <frederico.fernandes.afonso@gmail.com>
Date: Thu, 15 Aug 2024 22:20:40 +0100
Subject: [PATCH 21/32] [DQ_SerialVrepRobot.m] Updated comment describing
 'set_configuration' method.

---
 interfaces/vrep/DQ_SerialVrepRobot.m | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/interfaces/vrep/DQ_SerialVrepRobot.m b/interfaces/vrep/DQ_SerialVrepRobot.m
index 92c1408d..3317dcf9 100644
--- a/interfaces/vrep/DQ_SerialVrepRobot.m
+++ b/interfaces/vrep/DQ_SerialVrepRobot.m
@@ -19,7 +19,7 @@
 %
 %   DQ_SerialVrepRobot Methods:
 %       get_joint_names - Gets the joint names of the robot in the CoppeliaSim scene.
-%       set_configuration_space_positions - Sets the joint configurations of the robot in the CoppeliaSim scene.
+%       set_configuration - Sets the joint configurations of the robot in the CoppeliaSim scene.
 %       get_configuration - Gets the joint configurations of the robot in the CoppeliaSim scene.
 %       set_target_configuration_space_positions - Sets the joint configurations of the robot in the CoppeliaSim scene as a target configuration for the joint controllers.
 %       get_configuration_space_velocities - Gets the joint velocities of the robot in the CoppeliaSim scene.

From 5099cb7990f77938d21c512801e68df89673e48f Mon Sep 17 00:00:00 2001
From: Frederico Fernandes Afonso Silva <frederico.fernandes.afonso@gmail.com>
Date: Thu, 15 Aug 2024 22:21:51 +0100
Subject: [PATCH 22/32] [DQ_SerialVrepRobot.m] Updated comment describing
 'set_target_configuration' method.

---
 interfaces/vrep/DQ_SerialVrepRobot.m | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/interfaces/vrep/DQ_SerialVrepRobot.m b/interfaces/vrep/DQ_SerialVrepRobot.m
index 3317dcf9..4e616f98 100644
--- a/interfaces/vrep/DQ_SerialVrepRobot.m
+++ b/interfaces/vrep/DQ_SerialVrepRobot.m
@@ -21,7 +21,7 @@
 %       get_joint_names - Gets the joint names of the robot in the CoppeliaSim scene.
 %       set_configuration - Sets the joint configurations of the robot in the CoppeliaSim scene.
 %       get_configuration - Gets the joint configurations of the robot in the CoppeliaSim scene.
-%       set_target_configuration_space_positions - Sets the joint configurations of the robot in the CoppeliaSim scene as a target configuration for the joint controllers.
+%       set_target_configuration - Sets the joint configurations of the robot in the CoppeliaSim scene as a target configuration for the joint controllers.
 %       get_configuration_space_velocities - Gets the joint velocities of the robot in the CoppeliaSim scene.
 %       set_target_configuration_space_velocities - Sets the joint velocities of the robot in the CoppeliaSim scene as a target velocity for the joint controllers.
 %       set_configuration_space_torques - Sets the joint torques of the robot in the CoppeliaSim scene.

From c3356aeb51058ab0faf8ce7a60f92f8d4c711c6a Mon Sep 17 00:00:00 2001
From: Frederico Fernandes Afonso Silva <frederico.fernandes.afonso@gmail.com>
Date: Thu, 15 Aug 2024 22:23:51 +0100
Subject: [PATCH 23/32] [DQ_SerialVrepRobot.m] Updated comment describing
 'get_configuration_velocities' method.

---
 interfaces/vrep/DQ_SerialVrepRobot.m | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/interfaces/vrep/DQ_SerialVrepRobot.m b/interfaces/vrep/DQ_SerialVrepRobot.m
index 4e616f98..22b1f1ec 100644
--- a/interfaces/vrep/DQ_SerialVrepRobot.m
+++ b/interfaces/vrep/DQ_SerialVrepRobot.m
@@ -22,7 +22,7 @@
 %       set_configuration - Sets the joint configurations of the robot in the CoppeliaSim scene.
 %       get_configuration - Gets the joint configurations of the robot in the CoppeliaSim scene.
 %       set_target_configuration - Sets the joint configurations of the robot in the CoppeliaSim scene as a target configuration for the joint controllers.
-%       get_configuration_space_velocities - Gets the joint velocities of the robot in the CoppeliaSim scene.
+%       get_configuration_velocities - Gets the joint velocities of the robot in the CoppeliaSim scene.
 %       set_target_configuration_space_velocities - Sets the joint velocities of the robot in the CoppeliaSim scene as a target velocity for the joint controllers.
 %       set_configuration_space_torques - Sets the joint torques of the robot in the CoppeliaSim scene.
 %       get_configuration_space_torques - Gets the joint torques of the robot in the CoppeliaSim scene.

From 6ac8182b6c2686c95e05a1ad3b10b2878b3dfbaa Mon Sep 17 00:00:00 2001
From: Frederico Fernandes Afonso Silva <frederico.fernandes.afonso@gmail.com>
Date: Thu, 15 Aug 2024 22:24:54 +0100
Subject: [PATCH 24/32] [DQ_SerialVrepRobot.m] Updated comment describing
 'set_target_configuration_velocities' method.

---
 interfaces/vrep/DQ_SerialVrepRobot.m | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/interfaces/vrep/DQ_SerialVrepRobot.m b/interfaces/vrep/DQ_SerialVrepRobot.m
index 22b1f1ec..6ad3d823 100644
--- a/interfaces/vrep/DQ_SerialVrepRobot.m
+++ b/interfaces/vrep/DQ_SerialVrepRobot.m
@@ -23,7 +23,7 @@
 %       get_configuration - Gets the joint configurations of the robot in the CoppeliaSim scene.
 %       set_target_configuration - Sets the joint configurations of the robot in the CoppeliaSim scene as a target configuration for the joint controllers.
 %       get_configuration_velocities - Gets the joint velocities of the robot in the CoppeliaSim scene.
-%       set_target_configuration_space_velocities - Sets the joint velocities of the robot in the CoppeliaSim scene as a target velocity for the joint controllers.
+%       set_target_configuration_velocities - Sets the joint velocities of the robot in the CoppeliaSim scene as a target velocity for the joint controllers.
 %       set_configuration_space_torques - Sets the joint torques of the robot in the CoppeliaSim scene.
 %       get_configuration_space_torques - Gets the joint torques of the robot in the CoppeliaSim scene.
 %   DQ_SerialVrepRobot Methods (Protected):

From be6a446285aac69379c796b2ba5da5b32f9d0a28 Mon Sep 17 00:00:00 2001
From: Frederico Fernandes Afonso Silva <frederico.fernandes.afonso@gmail.com>
Date: Thu, 15 Aug 2024 22:30:32 +0100
Subject: [PATCH 25/32] [DQ_SerialVrepRobot.m] Removed the comment describing a
 method not implemented in this pull request.

---
 interfaces/vrep/DQ_SerialVrepRobot.m | 2 --
 1 file changed, 2 deletions(-)

diff --git a/interfaces/vrep/DQ_SerialVrepRobot.m b/interfaces/vrep/DQ_SerialVrepRobot.m
index 6ad3d823..ccf8b075 100644
--- a/interfaces/vrep/DQ_SerialVrepRobot.m
+++ b/interfaces/vrep/DQ_SerialVrepRobot.m
@@ -26,8 +26,6 @@
 %       set_target_configuration_velocities - Sets the joint velocities of the robot in the CoppeliaSim scene as a target velocity for the joint controllers.
 %       set_configuration_space_torques - Sets the joint torques of the robot in the CoppeliaSim scene.
 %       get_configuration_space_torques - Gets the joint torques of the robot in the CoppeliaSim scene.
-%   DQ_SerialVrepRobot Methods (Protected):
-%       update_manipulator_dynamic_parameters - Updates the dynamic parameters of the serial robot in the CoppeliaSim scene
 
 % (C) Copyright 2011-2024 DQ Robotics Developers
 %

From 8a60f03ab59b96016931954e1f8b119ee9bf1843 Mon Sep 17 00:00:00 2001
From: Frederico Fernandes Afonso Silva <frederico.fernandes.afonso@gmail.com>
Date: Thu, 15 Aug 2024 22:35:59 +0100
Subject: [PATCH 26/32] [DQ_SerialVrepRobot.m] Renamed methods' names as
 requested by Bruno.

---
 interfaces/vrep/DQ_SerialVrepRobot.m | 30 ++++++++++++++--------------
 1 file changed, 15 insertions(+), 15 deletions(-)

diff --git a/interfaces/vrep/DQ_SerialVrepRobot.m b/interfaces/vrep/DQ_SerialVrepRobot.m
index ccf8b075..df363a09 100644
--- a/interfaces/vrep/DQ_SerialVrepRobot.m
+++ b/interfaces/vrep/DQ_SerialVrepRobot.m
@@ -119,10 +119,10 @@
             joint_names = obj.joint_names;
         end
 
-        function set_configuration_space_positions(obj, q)
+        function set_configuration(obj, q)
             % This method sets the joint configurations of the robot in the CoppeliaSim scene.
             % Usage:
-            %     set_configuration_space_positions(q);  
+            %     set_configuration(q);  
             %          q: The joint configurations of the robot in the CoppeliaSim scene.
             %
             % Example: 
@@ -130,7 +130,7 @@ function set_configuration_space_positions(obj, q)
             %     vi.connect('127.0.0.1',19997);
             %     vrep_robot = DQ_SerialVrepRobot("my_robot", 7, "my_robot#1", vi);
             %     q = zeros(7,1);
-            %     vrep_robot.set_configuration_space_positions(q);
+            %     vrep_robot.set_configuration(q);
             %     
             %     Note that this calls "set_joint_positions" in DQ_VrepInterface, meaning that it
             %     is only suitable for joints in kinematic mode.
@@ -138,24 +138,24 @@ function set_configuration_space_positions(obj, q)
             obj.vrep_interface.set_joint_positions(obj.joint_names, q)
         end
         
-        function q = get_configuration_space_positions(obj)
+        function q = get_configuration(obj)
             % This method gets the joint configurations of the robot in the CoppeliaSim scene.
             % Usage:
-            %     get_configuration_space_positions;  
+            %     get_configuration;  
             %
             % Example: 
             %     vi = DQ_VrepInterface();
             %     vi.connect('127.0.0.1',19997);
             %     vrep_robot = DQ_SerialVrepRobot("my_robot", 7, "my_robot#1", vi);
-            %     q = vrep_robot.get_configuration_space_positions;
+            %     q = vrep_robot.get_configuration;
 
             q = obj.vrep_interface.get_joint_positions(obj.joint_names);
         end
 
-        function set_target_configuration_space_positions(obj, q_target)
+        function set_target_configuration(obj, q_target)
             % This method sets the joint configurations of the robot in the CoppeliaSim scene as a target configuration for the joint controllers.
             % Usage:
-            %     set_target_configuration_space_positions(q_target);  
+            %     set_target_configuration(q_target);  
             %          q_target: The target joint configurations of the robot in the CoppeliaSim scene.
             %
             % Example: 
@@ -163,7 +163,7 @@ function set_target_configuration_space_positions(obj, q_target)
             %     vi.connect('127.0.0.1',19997);
             %     vrep_robot = DQ_SerialVrepRobot("my_robot", 7, "my_robot#1", vi);
             %     q_target = zeros(7,1);
-            %     vrep_robot.set_target_configuration_space_positions(q_target);
+            %     vrep_robot.set_target_configuration(q_target);
             %     
             %     Note that this calls "set_joint_target_positions" in DQ_VrepInterface, meaning that it
             %     is only suitable for joints in dynamic mode with position control.
@@ -171,24 +171,24 @@ function set_target_configuration_space_positions(obj, q_target)
             obj.vrep_interface.set_joint_target_positions(obj.joint_names, q_target)
         end
         
-        function qd = get_configuration_space_velocities(obj)
+        function qd = get_configuration_velocities(obj)
             % This method gets the joint velocities of the robot in the CoppeliaSim scene.
             % Usage:
-            %     get_configuration_space_velocities;  
+            %     get_configuration_velocities;  
             %
             % Example: 
             %     vi = DQ_VrepInterface();
             %     vi.connect('127.0.0.1',19997);
             %     vrep_robot = DQ_SerialVrepRobot("my_robot", 7, "my_robot#1", vi);
-            %     qd = vrep_robot.get_configuration_space_velocities;
+            %     qd = vrep_robot.get_configuration_velocities;
             
             qd = obj.vrep_interface.get_joint_velocities(obj.joint_names);
         end
 
-        function set_target_configuration_space_velocities(obj, v_target)
+        function set_target_configuration_velocities(obj, v_target)
             % This method sets the joint velocities of the robot in the CoppeliaSim scene as a target velocity for the joint controllers.
             % Usage:
-            %     set_target_configuration_space_velocities(v_target);  
+            %     set_target_configuration_velocities(v_target);  
             %          v_target: The target joint velocities of the robot in the CoppeliaSim scene.
             %
             % Example: 
@@ -196,7 +196,7 @@ function set_target_configuration_space_velocities(obj, v_target)
             %     vi.connect('127.0.0.1',19997);
             %     vrep_robot = DQ_SerialVrepRobot("my_robot", 7, "my_robot#1", vi);
             %     v_target = zeros(7,1);
-            %     vrep_robot.set_target_configuration_space_velocities(v_target);
+            %     vrep_robot.set_target_configuration_velocities(v_target);
             %     
             %     Note that this calls "set_joint_target_velocities" in DQ_VrepInterface, meaning that it
             %     is only suitable for joints in dynamic mode with velocity control.

From 0cf51a6b35c6a49f577d5aa3494ed10e7aa136f0 Mon Sep 17 00:00:00 2001
From: Frederico Fernandes Afonso Silva <frederico.fernandes.afonso@gmail.com>
Date: Thu, 15 Aug 2024 22:40:58 +0100
Subject: [PATCH 27/32] [DQ_VrepRobot.m] Renamed methods' as requested by
 Bruno.

---
 interfaces/vrep/DQ_VrepRobot.m | 16 ++++++++--------
 1 file changed, 8 insertions(+), 8 deletions(-)

diff --git a/interfaces/vrep/DQ_VrepRobot.m b/interfaces/vrep/DQ_VrepRobot.m
index f10e8841..7c59b4a8 100644
--- a/interfaces/vrep/DQ_VrepRobot.m
+++ b/interfaces/vrep/DQ_VrepRobot.m
@@ -5,8 +5,8 @@
 %   Inherit from this class and implement the abstract methods.
 %
 %   DQ_VrepRobot Methods (Abstract):
-%       set_configuration_space_positions - Sends the joint configurations to VREP
-%       get_configuration_space_positions - Obtains the joint configurations from VREP
+%       set_configuration - Sends the joint configurations to VREP
+%       get_configuration - Obtains the joint configurations from VREP
 
 % (C) Copyright 2018-2024 DQ Robotics Developers
 %
@@ -47,23 +47,23 @@
     end
     
     methods (Abstract)
-        set_configuration_space_positions(obj,q);
-        q = get_configuration_space_positions(obj);
+        set_configuration(obj,q);
+        q = get_configuration(obj);
     end
 
     methods
         function send_q_to_vrep(obj, q)
             % For backwards compatibility only. Do not use this method.
 
-            warning('Deprecated. Use set_configuration_space_positions() instead.')
-            obj.set_configuration_space_positions(q)
+            warning('Deprecated. Use set_configuration() instead.')
+            obj.set_configuration(q)
         end
 
         function q = get_q_from_vrep(obj)
             % For backwards compatibility only. Do not use this method.
 
-            warning('Deprecated. Use get_configuration_space_positions() instead.')
-            q = obj.get_configuration_space_positions();
+            warning('Deprecated. Use get_configuration() instead.')
+            q = obj.get_configuration();
         end
     end
 end

From 17f45069b45f793c0e0a2408367c81a2723c54e8 Mon Sep 17 00:00:00 2001
From: Frederico Fernandes Afonso Silva <frederico.fernandes.afonso@gmail.com>
Date: Thu, 15 Aug 2024 22:43:21 +0100
Subject: [PATCH 28/32] [LBR4pVrepRobot.m] Updated copyright.

---
 interfaces/vrep/robots/LBR4pVrepRobot.m | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/interfaces/vrep/robots/LBR4pVrepRobot.m b/interfaces/vrep/robots/LBR4pVrepRobot.m
index ca9884bd..7321fc9a 100644
--- a/interfaces/vrep/robots/LBR4pVrepRobot.m
+++ b/interfaces/vrep/robots/LBR4pVrepRobot.m
@@ -19,7 +19,7 @@
 %   LBR4pVrepRobot Methods:
 %       kinematics - Obtains the DQ_Kinematics implementation of this robot
 
-% (C) Copyright 2018-2024 DQ Robotics Developers
+% (C) Copyright 2011-2024 DQ Robotics Developers
 %
 % This file is part of DQ Robotics.
 %

From ecab5b5d6d0eacbe3a37633a3e48c4f877974075 Mon Sep 17 00:00:00 2001
From: Frederico Fernandes Afonso Silva <frederico.fernandes.afonso@gmail.com>
Date: Thu, 15 Aug 2024 22:44:55 +0100
Subject: [PATCH 29/32] [LBR4pVrepRobot.m] Updated usage comments.

---
 interfaces/vrep/robots/LBR4pVrepRobot.m | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/interfaces/vrep/robots/LBR4pVrepRobot.m b/interfaces/vrep/robots/LBR4pVrepRobot.m
index 7321fc9a..b020dfad 100644
--- a/interfaces/vrep/robots/LBR4pVrepRobot.m
+++ b/interfaces/vrep/robots/LBR4pVrepRobot.m
@@ -8,7 +8,7 @@
 %           >> vi.connect('127.0.0.1',19997);
 %           >> vrep_robot = LBR4pVrepRobot("LBR4p", vi);
 %           >> vi.start_simulation();
-%           >> robot.get_configuration_space_positions();
+%           >> robot.get_configuration();
 %           >> pause(1);
 %           >> vi.stop_simulation();
 %           >> vi.disconnect();

From 05873d58d643581beeb2140712c1e05b56cdc928 Mon Sep 17 00:00:00 2001
From: Frederico Fernandes Afonso Silva <frederico.fernandes.afonso@gmail.com>
Date: Thu, 15 Aug 2024 22:47:44 +0100
Subject: [PATCH 30/32] [YouBotVrepRobot.m] Renamed
 'get_configuration_space_positions' to 'get_configuration'.

---
 interfaces/vrep/robots/YouBotVrepRobot.m | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/interfaces/vrep/robots/YouBotVrepRobot.m b/interfaces/vrep/robots/YouBotVrepRobot.m
index 80cdbef2..86b41b93 100644
--- a/interfaces/vrep/robots/YouBotVrepRobot.m
+++ b/interfaces/vrep/robots/YouBotVrepRobot.m
@@ -8,7 +8,7 @@
 %           >> vi.connect('127.0.0.1',19997);
 %           >> vrep_robot = YouBotVrepRobot("youBot", vi);
 %           >> vi.start_simulation();
-%           >> robot.get_configuration_space_positions();
+%           >> robot.get_configuration();
 %           >> pause(1);
 %           >> vi.stop_simulation();
 %           >> vi.disconnect();
@@ -18,7 +18,7 @@
 %
 %   YouBotVrepRobot Methods:
 %       set_configuration_space_positions - Sends the joint configurations to VREP
-%       get_configuration_space_positions - Obtains the joint configurations from VREP
+%       get_configuration - Obtains the joint configurations from VREP
 %       kinematics - Obtains the DQ_Kinematics implementation of this robot
 
 % (C) Copyright 2018-2024 DQ Robotics Developers
@@ -97,10 +97,10 @@ function set_configuration_space_positions(obj,q)
             obj.vrep_interface.set_object_pose(obj.base_frame_name, pose * obj.adjust');
         end
         
-        function q = get_configuration_space_positions(obj)
+        function q = get_configuration(obj)
             %% Obtains the joint configurations from VREP
             %  >> vrep_robot = YouBotVrepRobot("youBot", vi)
-            %  >> q = vrep_robot.get_configuration_space_positions(q)
+            %  >> q = vrep_robot.get_configuration(q)
             base_x = obj.vrep_interface.get_object_pose(obj.base_frame_name) * obj.adjust;
             base_t = vec3(translation(base_x));
             base_phi = rotation_angle(rotation(base_x));

From 8b53f6ddc4ffc68d5f36e70b509d0ff269dd3330 Mon Sep 17 00:00:00 2001
From: Frederico Fernandes Afonso Silva <frederico.fernandes.afonso@gmail.com>
Date: Thu, 15 Aug 2024 22:49:15 +0100
Subject: [PATCH 31/32] [YouBotVrepRobot.m] Renamed
 'set_configuration_space_positions' to 'set_configuration'.

---
 interfaces/vrep/robots/YouBotVrepRobot.m | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/interfaces/vrep/robots/YouBotVrepRobot.m b/interfaces/vrep/robots/YouBotVrepRobot.m
index 86b41b93..8795b96c 100644
--- a/interfaces/vrep/robots/YouBotVrepRobot.m
+++ b/interfaces/vrep/robots/YouBotVrepRobot.m
@@ -17,7 +17,7 @@
 %       will become "youBot#0", a third robot, "youBot#1", and so on.
 %
 %   YouBotVrepRobot Methods:
-%       set_configuration_space_positions - Sends the joint configurations to VREP
+%       set_configuration - Sends the joint configurations to VREP
 %       get_configuration - Obtains the joint configurations from VREP
 %       kinematics - Obtains the DQ_Kinematics implementation of this robot
 
@@ -80,11 +80,11 @@
             obj.base_frame_name = robot_name;
         end
         
-        function set_configuration_space_positions(obj,q)
+        function set_configuration(obj,q)
             %% Sends the joint configurations to VREP
             %  >> vrep_robot = YouBotVrepRobot("youBot", vi)
             %  >> q = zeros(8,1);
-            %  >> vrep_robot.set_configuration_space_positions(q)
+            %  >> vrep_robot.set_configuration(q)
             x = q(1);
             y = q(2);
             phi = q(3);

From badb11aa7d5893182e154ae0c97da61740393e5b Mon Sep 17 00:00:00 2001
From: Frederico Fernandes Afonso Silva <frederico.fernandes.afonso@gmail.com>
Date: Thu, 15 Aug 2024 22:50:30 +0100
Subject: [PATCH 32/32] [YouBotVrepRobot.m] Updated copyright.

---
 interfaces/vrep/robots/YouBotVrepRobot.m | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/interfaces/vrep/robots/YouBotVrepRobot.m b/interfaces/vrep/robots/YouBotVrepRobot.m
index 8795b96c..7ad10e34 100644
--- a/interfaces/vrep/robots/YouBotVrepRobot.m
+++ b/interfaces/vrep/robots/YouBotVrepRobot.m
@@ -21,7 +21,7 @@
 %       get_configuration - Obtains the joint configurations from VREP
 %       kinematics - Obtains the DQ_Kinematics implementation of this robot
 
-% (C) Copyright 2018-2024 DQ Robotics Developers
+% (C) Copyright 2011-2024 DQ Robotics Developers
 %
 % This file is part of DQ Robotics.
 %