CoppeliaSim forums

Hello,

We are currently using RGB-D cameras like the Intel RealSense D435 and use the depth channel to produce a point cloud. We would like to use CoppeliaSim to simulate a robot with a similar sensor.

Is it possible to create or modify a sensor?

Thank you.

Hello,

yes, you can create an modify any sensor or existing model. You can do simple things like combining various scene objects (e.g. shapes, sensors, joints, etc), write script-based controllers for them, or do sensor fusion (e.g. combine vision sensors with proximity sensors, or others), read out and combine those sensor data inside of a script. But you can also do more complex things via a plugin, that will allow you to create custom script callback functions that can help you implement high-level functionality.

Cheers

Hello,

Thank you for your response. Is there a tutorial available? How do you suggest I move forward if I am not too familiar with sensors and plugins in CoppeliaSim?

You can read more here about creating custom models, or here for some other tutorials.
Here you can read more about plugin development for CoppeliaSim

Cheers