Regular API function

simRMLMoveToJointPositions / sim.rmlMoveToJointPositions

Description DEPRECATED. See sim.moveToConfig instead.
C/C++
synopsis
C/C++
parameters
C/C++
return value
Lua
synopsis
int result,float[] newPos,float[] newVel,float[] newAccel,float timeLeft=sim.rmlMoveToJointPositions(int[] jointHandles,int flags,float[] currentVel,float[] currentAccel,float[] maxVel,float[] maxAccel,float[] maxJerk,float[] targetPos,float[] targetVel,float[] direction)
Lua
parameters
jointHandles: handles of the joints to actuate
flags: RML flags. -1 for default flags.
currentVel: the current velocity of the joints. Can be nil in which case a velocity vector of 0 is used.
currentAccel: the current acceleration of the joints. Can be nil in which case an acceleration vector of 0 is used.
maxVel: the maximum allowed velocity of the joints
maxAccel: the maximum allowed acceleration of the joints
maxJerk: the maximum allowed jerk of the joints. With the RML type II plugin, the max. jerk will however always be infinite.
targetPos: the desired target positions of the joints
targetVel: the desired velocity of the joints at the target. Can be nil in which case a velocity vector of 0 is used.
direction: the desired rotation direction for cyclic revolute joints: 0 for the shortest distance, -x for a movement towards negative values, +x for a movement towards positive values (n=(x-1) represents the number of additional turns). Can be nil or omitted, in which case a value of 0 is used for all joints.
Lua
return values
result: 1 if the function call was successful
newPos: the new positions of the joints
newVel: the new velocities of the joints
newAccel: the new accelerations of the joints
timeLeft: the time left for additional calculations in current simulation time step