It is correct to use sim.moveToConfig. You can use a 1-dimensional config, starting from {0} , ending in {1} , which would be the parameter for interpolation between an initial and a final config/position/pose. To interpolate between 2 joint positions you can use (1 - config[1]) * initialJointPos + ...
If you don't need to use a cyclic joint, simply selecting a joint range larger than 2*pi is enough to make the joint turn more than 1 full revolution when setting a large enough target position (via sim.setJointTargetPosition). If instead you are forced to used a cyclic joint, the solution is to use...
Actually, even better (and faster) than that, you can set the vision sensor render mode to "color coded handles", then each object is rendered with a unique color corresponding to its handle. Then you can go through all pixels and decode which object it relates to ( handle = unsigned int i...
You can achieve something like selective rendering by setting the vision sensor to explicit handling, then adjusting visibility layer of all objects before/after rendering to only "see" the interesting objects. Depth map gives you something almost resembling a binary map (simply apply some...
When the robot is outside the linear guide (in the tree), paths are found that lead to the desired location. When I place the robot inside the linear guide (on the tree) the positions found from there no longer coincide with those intended. I don't really understand any of that; but usually, when s...