I am newbie to coppeliaSim. I had a question regarding customizing the world frame. I have a mechanism whose world frame is different than that of the default world frame of coppelia. The z-axis is horizontal to the floor and y-axis is pointing upwards from the floor.
I was wondering if the default world frame on the software where the z-axis is pointing upwards from the floor can be switched with y-axis and can be changed according to my mechanism's world frame.
Please let me know. Thank you!
The world frame in CoppeliaSim
Re: The world frame in CoppeliaSim
You can add a 'dummy' object in the scene with the desired orientation.
Then you would use its handle when you want to refer to "world" instead of -1, e.g. when passing the parameter relativeToObjectHandle to sim.getObjectPosition()
Then you would use its handle when you want to refer to "world" instead of -1, e.g. when passing the parameter relativeToObjectHandle to sim.getObjectPosition()
Re: The world frame in CoppeliaSim
Correct. In general, you'll have to apply a specific transformation for the data coming in or imported (e.g. in your case this would be a simply rotation transformation \(R\)). When exporting data, you'd apply the inverse transformation, i.e. \(R^{-1}\)
Cheers
Cheers