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Functions such as sim.setJointPosition or sim.setJointTargetPosition return immediately, so if you sequentially set position of joint 1 then position of joint 2, those will move simultaneously (if inside a threaded script, you need to momentarily disable thread switching to make sure simulation does...

Those modes are not required anymore.

Have a look at the Inverse kinematics tutorial of the newer release.

Exactly, the buffer is the sequence of pixels read row by row. Values are normalized between 0...1, however (from sim.getVisionSensorDepthBuffer documentation): sensorHandle : handle of the vision sensor. Can be combined with sim.handleflag_depthbuffermeters (simply add sim.handleflag_depthbuffermet...

Isn't simpler to rewrite your path following script, as suggested?

You can use sim.getPathInterpolatedConfig like in the last example of https://www.coppeliarobotics.com/helpFiles/en/paths.htm and provide a timing law for posAlongPath that does exactly what you want.

What does "top layer" mean?

Perhaps depth info is disabled in the object properties of the vision sensor? Or objects are not renderable?

You can accumulate traveled distance (distance d between current position and previous position) in a child script like so: function sysCall_init() self=sim.getObjectHandle('.') distance=0 lastPosition=sim.getObjectPosition(self,-1) end function sysCall_sensing() local p=sim.getObjectPosition(self,-...

Visual parts are more detailed. Dynamic parts are simplified representations of the visual part, which are more stable in simulation (because are pure, or at least convex) and compute faster, with only a minimal representation error with respect to the visual counterpart. See also: Building a clean ...

sim.getVisionSensorImage gives you the binary image data.

Use sim.saveImage to save the image data to various formats.

elizakh wrote: ↑21 Jul 2021, 10:54 18: Illegal object name. (in function 'sim.setObjectName')

That may happen when some object already exists with that name.