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The first returned value should be exactly the same as for the C version of the same API function. If your vision sensors do not trigger a detection, then this is normal. By default, a vision sensor does not trigger a detection. To trigger a detection, attach a simulation script to the vision sensor ...

Can you reproduce the problem when using a script instead of a plugin? (i.e. calling sim.handleVisionSensor instead of simHandleVisionSensor)

sim.handleVisionSensor is basically implemented in a same way and should produce the same error. Here the sim.handleVisionSensor implementation:

int ...

Hello,

please try simply calling simHandleVisionSensor like in following example:
There should be no memory to release.

Cheers

Hello,

firs make sure that the XML file generated reflects the SOLREF change you made. You can inspect the generated XML files in the folder you get with this command:

sim.getStringProperty(sim.handle_app, 'mujocoPath')

I suspect that your XML file simply isn't re-generated. A re-generation ...

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Cheers

Hello,

can you tell me what version of CoppeliaSim you are using? Also, what platform are you on? (my guess is Ubuntu24). Since when did the problem start?

Cheers

Hello,

best is to use the command-line arguments, e.g.:
See also the other command-line options.

Cheers

Hello,

I would recommend you to switch to another physics engine, e.g. if you use Mujoco, then rhings appear to be very stable.
Otherwise, scale the inertia of objects joint_link up by a factor 10. Then you will also get a much more stable situation.

Cheers

Hello,

looking at the first external file in your u10e.urdf I see:

package://ur_e_description/meshes/ur10e/visual/base.stl

yet I can only find following file in th package:

ur_description/meshes/ur10e/visual/base.dae

am I missing something?

Cheers

No, you can't. Also, that value would only make sense when you have two convex shapes colliding. If they are not convex the penetration depth could only be approximate.

Cheers