call generatePath multiple times

[guyleblond]

I found some example code and was able to get generatePath to move my robot arm tip from the current pose to a new a target pose.

But I cannot figure out how to do multiple generatePath, that will move the arm to several new poses, from it's current location.
I'm running the python code remotely using the RemoteAPIClient.

Here is a snippet of my code:
sim.setObjectPose(sim_obj_arm_target, target_pose)
ik_element_pose, sim_to_ik_map_pose, ik_to_sim_map_pose = sim_ik.addElementFromScene(ik_environment, ik_group_pose, sim_obj_arm_base, sim_obj_arm_tip, sim_obj_arm_target, sim_ik.constraint_pose)
ik_tip_handle_pose = sim_to_ik_map_pose[sim_obj_arm_tip]
ik_joints_handle_pose = []
for i in range(len(sim_obj_arm_joints)):
ik_joints_handle_pose.append(sim_to_ik_map_pose[sim_obj_arm_joints])
fwd_kin_path = sim_ik.generatePath(ik_environment, ik_group_pose, ik_joints_handle_pose, ik_tip_handle_pose, 100)
for i in range(0, len(fwd_kin_path), 6):
joint_angles = fwd_kin_path[i:i+6]
for j in range(len(joint_angles)):
sim.setJointPosition(sim_obj_arm_joints[j], joint_angles[j])
time.sleep(0.05)

[coppelia]

Hello,

can you please post a minimalistic, self-contained version of your scene that illustrates your problem?

Cheers