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You can have a look at the "3D Text Generator" add-on source code (in <coppeliaSim dir>/addOns/), which does something like that.

Horizon wrote: ↑13 Apr 2024, 16:04

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Anc=Matrix:vertcat(Matrix(3,4,sim.getobjectMatrix(camera,tip)),Matrix(1,4,{0,0,0,1}))

Also, you can write that as simply:
Matrix4x4 initializes from either a 12 or 16 elements array.

Lua is a case-sensitive language, and so are API function names.

Refer to Regular API reference.

Force sensors are used for "Fixed joints".

Then you want to specify the frame relative to something else than sim.handle_world.
Simply change that parameter when calling sim.setObjectOrientation

You can replace drawing objects with shapes if you want to have them in 3D output.

Yes, the URDF importer is very finicky about the resources' paths, and often those need to be adjusted...

It is really transparent (opacity = 0) or it is in a hidden layer?

There is an option to avoid joint limits in simIK.setGroupFlags: simIK.group_avoidlimits : joint limits are actively avoided A more customizable approach to drive the robot configuration towards "better" poses could be of introducing a secondary task, e.g. to attract the elbow up, without ...

eulerAngles = sim.getObjectOrientation(shapeHandle, sim.handle_world) eulerAngles[3] = eulerAngles[3] + amount sim.setObjectOrientation(shapeHandle, eulerAngles, sim.handle_world) Notes: sim.handle_world is the default, so it is not required to specify it; objects rotate around their origin. Arbitr...