result of not successful inverse kinematics

[need2know]

Hi,

is there a more detailed description for the bit-coded return value "reason" from the function call sim.handleGroup.

Following the documentation the bit-coded options are:

Code: Select all

simIK.calc_notperformed
simIK.calc_cannotinvert
simIK.calc_notwithintolerance
simIK.calc_stepstoobig
simIK.calc_limithit

i would like to recognize whether the ik was not successful because the axis limits were hit or the robot pose is in singularity.
can you tell me, which of the named options i have to check in my case?

Cheers

[coppelia]

Hello,

when axis limits are hit, it is simIK.calc_limithit, and you cannot directly detect a singular configuration, except that the pose/position cannot be reached, i.e. simIK.calc_notwithintolerance.

Cheers