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There are no particular provisions to achieve that. You only need a good grasping (or fake it with sim.setObjectParent), a sufficient joint maximum velocity, and a good timing. For a good timing, you can wait e.g. the robot tip to reach a particular position: function sysCall_init() ... corout=corou...

A short description of the parameters is found in the documentation: simSurfRec.reconstruct_scale_space Lua parameters: pointCloudHandle (int): handle of the point cloud iterations (int, default: 4): number of iterations neighbors (int, default: 12): number of neighbors a point's neighborhood should...

Depending on the size of the point cloud and the parameters you pass to the simSurfRec.reconstruct_scale_space function, it can take a long(!) time to execute.

Yes

Boost is required to compile most of the plugins.

Use the Isometric Scaling addon (modules menu).

As for building plugins, you have to set COPPELIASIM_ROOT_DIR environment variable to point to the CoppeliaSim resources directory (parent of 'programming' dir).

In dynamic conditions you would have to consider:

• Newton's first law
• Coriolis force

From Basics on IK groups and IK elements : The tip is usually the last object in the considered kinematic chain (when going from the base to the tip), and is often the end-effector. The tip object should be linked to a target object (see hereafter). The target represents the position and/or orientat...

For the record, to implement first proposed approach, you would first compute a list of dynamic shapes that you want to exclude from force sensor's reading, for which you'll be computing force and torque manually: allNonStaticShapes={} -- add items to 'allNonStaticShapes' then compute mass and cente...