CoppeliaSim forums

Hello, best would be to post a minimalistic, self-containing scene, that illustrates your problem. Not sure what object you use to get the robot's position/orientation, but if you use the robot's base, then indeed you can only look at the gamma component of the orientation. Keep in mind that it vari...

About your second problems: Many things can go wrong or are rather tricky: You have the sim and IK world. They should be synced, otherwise you'll see some strange effects due to mismatches Since your robot can be upside-down, things get tricky because the IK world does not understand upside-down (an...

Hello,

go with sim.getContactInfo. You'll have to correctly parse and filter out forces: if you need to react to those forces, do it in dynamics callback function, since that will be called more frequently than a regular callback function.

Cheers

Hello, indeed, something is strange at first sight... I can't put my finger on it. Upside-down causes the joint controller to behave strangely, while bottom-up, things look relatively ok. This is not the reason, but make sure to adjust the 'armature' MuJoCo parameter somewhat to the upside (in gener...

Hello,

you can find that DLL here.

Cheers

Hello,

this is very specific to the Newton engine. Best would be to check on their forum.

Cheers

Select the shape, then in the shape dynamics dialog, click Engine properties and adjust one of following (depending on your engine):

• bullet/friction
• ode/friction
• newton/staticFriction and/or newton/kineticFriction
• mujoco/friction

Cheers

did you have a look at sim.getJointForce ?

Cheers

Hello,

in general, models are scalable. Have a look at the add-on located at [Menu bar > Modules > Geometry / Mesh > Isometric scaling].

About your texture... did you try to use sim.createTexture?

Cheers

Have also a look at sim.rotateAroundAxis

Cheers