CoppeliaSim forums

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 =...

The resulting friction coefficient is computed by combining the friction coefficients of the two bodies involved in the collision. The combined friction coefficient is calculated using a method that ensures a reasonable value for the interaction between the surfaces.

CoppeliaSim can record a simulation in glTF format (a format for 3D content exchange that embeds meshes, textures and animations), see Modules > Exporters > GLTF animation exporter....

Then you can use a glTF player on your webpage to play back the simulation.

Scene vision/imageProcessingDemo1-lua.ttt does some simple drawing onto the vision sensor image, using the simIM plugin.

I'm not sure that I have understood it correctly. Do you mean that there is a chance the IK might not have been calculated during the OMPL compute, and that is why I'm getting a straight line between the initial and target positions? Correct, OMPL doesn't do any IK by default. The default state val...

Hi, OMPL has no notion of the robot kinematics, besides knowing a set of joints. For a robot such as IRB360, since it is a parallel kinematics structure, it is first important to understand how its kinematics are implemented (there are two modes: FK and IK, see the robot model for details). Then, re...

Please don't resurrect such old topics. The code referenced in this old topic is not valid anymore, it contains deprecated functions and features, and it does not reflect the current youBot gripper script anymore. Since the behavior of grippers is not standardized yet, and grippers' scripts can chan...

From another script, you can call functions openClicked and closeClicked defined in the gripper's script, with:

The problem is that you have a situation like: function sysCall_sensing() while ... do ... end end which can't possibly work, because code in sysCalls must not block. Your code doesn't return until a condition becomes true, which would happens several steps in the future, but simulation time can't p...