Hello,
I'm having trouble to understand what the "maxDist" parameters in the simIK.findConfig function actually controls to set it up properly in my analysis.
In the description it's writen this is the distance between the tip and target in IK word, but as we are looking for solutions where the tip is actually on the target I'm struggling to understand properly how to use it,
Does anyone have a better understanding to share ?
Thanks,
Thibaut
maxDist in simIK.findConfigs
Re: maxDist in simIK.findConfigs
Hello Thibaut,
first, make sure to use the lastest CoppeliaSim (V4.9) and the newer version of the function: simIK.findConfigs
Then, that function does a randomized search, i.e. it will successively select random joint angles for the robot. The then obtained end-effector pose is then compared to the desired pose. If that distance is larger than maxDist, search continues with another set of random joint angles. If the distance is smaller than maxDist, then inverse kinematics will be used to try to bring the end-effector onto the desired pose. If that operation is successful, then the joint values of the end-pose are registered as one of the configs searched.
maxDist is actually only used to speed-up calculations, since oftentimes, if the distance between end-effector pose and desired pose is too large, ik calculations will fail and take unnecessary compute time.
Cheers
first, make sure to use the lastest CoppeliaSim (V4.9) and the newer version of the function: simIK.findConfigs
Then, that function does a randomized search, i.e. it will successively select random joint angles for the robot. The then obtained end-effector pose is then compared to the desired pose. If that distance is larger than maxDist, search continues with another set of random joint angles. If the distance is smaller than maxDist, then inverse kinematics will be used to try to bring the end-effector onto the desired pose. If that operation is successful, then the joint values of the end-pose are registered as one of the configs searched.
maxDist is actually only used to speed-up calculations, since oftentimes, if the distance between end-effector pose and desired pose is too large, ik calculations will fail and take unnecessary compute time.
Cheers