i am having a problem with the simCheckIkGroup function.
First, I try to get the JointValues of the Robot that are needed to Move to the target Position with simCheckIkGroup
and then I move to these jointPositions with the simRMLMoveToJointPositions function.
Code: Select all
number,jointValues=simCheckIkGroup(ik,jointHandles)
simRMLMoveToJointPositions(jointHandles,-1,currentVel,currentAccel,maxVel,maxAccel,maxJerk,jointValues,targetVel)
But if the distance to the target position is longer, then simCheckIkGroup returns wrong values. (valid, but wrong)
This is also the case with the simHandleIKGroup function.
Here I can help myself by calling simHandleIkGroup 3 Times. Then the robot is at the correct position.
Here is my scene if you want to take a look at it.
http://www.filedropper.com/simcheckikgroupbug