Some of things I've looked at don't seem to work because my script is meant to be generic and is attached to dummy which could be moved to arbitrary models.
Here's what I've tried:
- I have no way of getting the ikGroupHandle from simGetIkGroupHandle because I don't know the name of the ik groups before attaching my script to the model. I don't know how to read that information otherwise. It doesn't show when reading through the entire object tree, (and there's no related scene object type to identify it if it were there).
- I've seen that simSetIkElementProperties has been used by others to manually disable or enable an element (the ABB IRB 360 model), but I don't know the GroupHandle and I wouldn't know which constraints to apply for the constraints argument since different models may require different constraints. It also only clears or sets the constraints rather than truly enabling the element after its been disabled by vrep.
- I've thought of trying to access the IK groups or elements through the dummies, but there are no dummy properties to read. There is simGetLinkDummy, but it only gives the handle of the other dummy and doesn't tell even what type of link it is or if there's any associated Calculation Modules (IK, GC, ...).