Coppelia Sim

sim_tutorial.md

Objects

Object Interaction Properties

• Dynamic object : Affected by gravity, collisions and other constraints.

• Static object : Not affected by forces.

• Respondable object : Produces a collision reaction with other respondable objects.

• Respondable mask : Used to filter respondability to only some objects.

Object Special Properties

• Collidable object : Tested for collision.

• Detectable object : Can be detected by proximity sensor.

• Renderable : Can be seen by visual sensors.

• Measureable : Can be used for minimum distance calculation.

Object Shape Properties

• Adjust color
• Adjust texture

Object Heirarchy

• Parent <---> Child
• Pure & Non-pure geometry

Joints

Joint Types

1. Prismatic
2. Revolute
3. Spherical

Joint Modes

• Passive
• Torque/Force
• Inverse Kinematic
• Dependent : Depends on the position of the other joint

Joint Control

• Velocity control

References

1. https://www.youtube.com/playlist?list=PLjzuoBhdtaXOoqkJUqhYQletLLnJP8vjZ