Hello in this video I will explain the properties of objects in the robot simulator Coppelia sim or the rep I am la Pola our mesto and this video is part of a tutorial about the use of capella seem For robotic courses that I normally teach at the Polytechnic University of Valencia The aims of the presentation are basically to describe the main properties of objects in capella scene Understand the differences between a respirable and non-responding all objects as well as between dynamic and Static objects to show some of the basic properties of shape and appearance of an object and understand visibility layers of objects and also to understand Special properties of an object that will affect the way in which the simulation is performed So objects can be dynamic or static it in any object is affected by forces such gravity collisions between objects and other Restrictions such as joint as we will see on the contrary I studied object can modify its position orientation only if we modify it manually or If we do it by code by programming, okay, but they do not depend on these forces. Okay, so they Basically allow us to implement purely kinematic simulations which are more easy to understand So in addition to these of this can also be reactive reactive is a property which is known in in in these simulators is known as respirable and basically, it implies that a reactive object can React against another object. Also another reactive object if there's a collision So Here, I will explain the object interaction map. So if you want to Get further information You have to follow the link. I show you below so so let's say that for Dynamic properties we have four possible cases. So an object could be an static object or dynamic but could be also at the same time respond label or non respond able and Depending on the properties of these objects, they interact different on each of the cases So for instance when we have two static objects that are non-responsive all the objects won't move they will be static so they won't move at all and since they are not collision at all or even if they get into collision, they do not do not react because they are non respond able so Also, we have the of the case in which the objects both of objects are static but one of them is responsible in this case because of the objects are static they don't move so they don't react and There's another or third case in which one of the objects is dynamic In this case the of the dynamic object will move. Let's say with the gravity falling down. Okay, and if the other If that object is non responsible means that whenever enters into a collision with another Object it will not react So if it's falling for instance, imagine that you have a dynamic object, but not reactive just on top of another object Then once it's falling down and passes through it will pass through the other object because it does not react. It does not generate a reaction force and The case in which both objects will actually physically interact will be the case in which for instance the objects are responding one It could happen for instance. One of them is dynamic. The other one is a static But basically if the dynamic object is falling down and both of them are responsible then they will react based on the principles of the third Newton's laws action and reaction and Also objects have Special properties and these properties are very important in order to control the way we execute our simulation specifically the most revelant Irrelevant properties are the collie label property which means that if we activate this property then object with With this property active will enter into a list of objects that can collide Which means that it will be used in order to detect possible collisions with other objects, but it does not imply that They will react they are basically used for other Calculation purposes purposes like path planning In order to compute collision free paths. Okay, so this algorithms are these modules will try to find or the known which objects are callable and which are not callable and only the color level objects will be considered for their Computation Also a delicate table object Will be detected by proximity sensors. So if we activate this property means that proximity Sensors such as ultrasonic laser or infrared can detect the the object and will provide a distance Of that object to the robot or to the center indeed, okay. So another property will be the renderable property, which means that These objects can be seen by Recent sensors. So if you activate this property then you have a camera in which you can do some processing and only this the objects with this property active will be actually rendered on that camera and then can be detected and Finally the measurable property will be used for the minimum distance calculation module which is useful in our convenient in in certain cases specifically to avoid collisions, too so also objects have some shape properties, especially Related with the geometry and we can modify for instance the scale of an object so we can scale it and make it bigger or a smaller and also we can adjust the color and even to provide a texture to to an object to modify its appearance and finally What we can do in in the properties of an object is to control the visibility layers the software has 16 visibility visibility layers That allow us to show or hide Objects during the simulation. So the first eight layers are usually used to show let's say nice objects which are usually more complex objects like such as meshes or come back subjects and they are usually Used by the graphic engine which is in church of display in them in our simulation and The following eight layers are usually used to show simple objects and they are part of our simulation Mostly affecting our physics engine. Usually we can here include pure objects or maybe convex objects too and also joins so these objects are usually are usually hidden on our simulation and This can be controlled using a global mask So the global mass by default uses the first eight layers as you can see here active But we can invert that and we can see the objects that are on the other layers so we can see What's behind the simulation? Okay, so we will see all these properties in our on the next video. Thank you very much