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You can obtain these joint configurations in various ways: manually, by moving the joints to bring the robot's end-effector to the desired pose; the Joint Tool add-on (under Modules > Kinematics) can help you with that. by using the simIK function simIK.findConfig. if you already created a script to...

Yes, you can use OcTrees, Point Clouds or Drawing Objects, and their relative APIs.

However with a dense scalar field like this, it would be difficult to look at the whole field at once. Probably you want to look at it one particular 2D slice at a time.

Yes. You would compute the diffusion model yourself e.g. in sysCall_actuation() updating C[x][y][z] (the gas concentration at position x, y, z) using whatever diffusion model and environment parameters you wish. e.g. -- lua function sysCall_init() C = ... -- create new 3D grid end function sysCall_a...

Yes, via negative thickness param in some frunctions, or specific filling functions of simIM.

simOMPL.writeState is a general purpose function that writes a state for a compound state space. For every component type of the state space it will use the correct CoppeliaSim API, namely: simOMPL.StateSpaceType.position2d => sim.setObjectPosition (state space is R²) simOMPL.StateSpaceType.pose2d =...

The resulting friction coefficient is computed by combining the friction coefficients of the two bodies involved in the collision. The combined friction coefficient is calculated using a method that ensures a reasonable value for the interaction between the surfaces.

CoppeliaSim can record a simulation in glTF format (a format for 3D content exchange that embeds meshes, textures and animations), see Modules > Exporters > GLTF animation exporter....

Then you can use a glTF player on your webpage to play back the simulation.

Scene vision/imageProcessingDemo1-lua.ttt does some simple drawing onto the vision sensor image, using the simIM plugin.

I'm not sure that I have understood it correctly. Do you mean that there is a chance the IK might not have been calculated during the OMPL compute, and that is why I'm getting a straight line between the initial and target positions? Correct, OMPL doesn't do any IK by default. The default state val...

Hi, OMPL has no notion of the robot kinematics, besides knowing a set of joints. For a robot such as IRB360, since it is a parallel kinematics structure, it is first important to understand how its kinematics are implemented (there are two modes: FK and IK, see the robot model for details). Then, re...