CoppeliaSim forums

Correct, from an OpenGL projection matrix you can only extract focal length (directly related to FoV). f = \frac{1}{tan(\frac{1}{2}FoV)} The other params (center, skewness) are typically zero. If you want lens distortion, you can apply it after acquiring the image from the sensor. Then you already k...

A gimbal basically is a set of passive pendulums, which you can create by use of masses and passive joints.

Loop closures and other constraints:

https://manual.coppeliarobotics.com/en/ ... s.htm#loop

You can't use sim.wait in a non-threaded script.

Either check the value returned by sim.getSimulationTime (e.g.: set belVelocity only if t>2), or use a threaded script instead where you can use sim.wait.

Fixed in V4.7:

https://forum.coppeliarobotics.com/view ... 619#p40619

Meanwhile, to avoid this error, don't read the force in the first simulation step.

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 =...