We want to change the attitude of the point cloud, to move and rotate the point cloud.

[aaaaabc?]

We can move and rotate the point cloud through the move and rotate buttons in the coppeliasim interface. We would like to know whether this operation can be implemented programmatically. I wonder if you can provide interfaces for moving buttons and rotating buttons in the interface?

[fferri]

Yes, you can use any of these API functions to move/rotate objects:

• sim.getObjectMatrix
• sim.setObjectMatrix
• sim.getObjectPose
• sim.setObjectPose
• sim.getObjectPosition
• sim.setObjectPosition
• sim.getObjectOrientation
• sim.setObjectOrientation
• sim.getObjectQuaternion
• sim.setObjectQuaternion

See also positions, orientations & transformations.

[aaaaabc?]

How do I get the output torque of the joint in torque mode?

[coppelia]

did you have a look at sim.getJointForce ?

Cheers

[aaaaabc?]

Yes，I do. But, what I understand is that this is the total force experienced by the joint axis, not the force output by the joint.