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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...

Make sure to use the latest version of CoppeliaSim. You are using an old version. In the latest version of Example.java there are more examples. About your other question: Object[] is an array of Object which is the superclass of all types, indicating a no better specified type. Object[] is used as ...

ConfigCallBack callback = (configs1, vel1, accel1, sim) -> { int i = 0; for (int joint : joints) { if (sim.isDynamicallyEnabled(joint)) { sim.setJointTargetPosition(joint, configs1.get(i)); } else { sim.setJointPosition(joint, configs1.get(i)); } i++; } }; this.getClient().getSim().moveToConfig( -1...