you are setting position ofNandanUmrikar wrote: ↑18 Mar 2024, 11:08Code: Select all
--lua sim.setObjectPose(simTarget, {-k * centerX, k * centerY, 0, 0, 0, 0, 1}, simTip)
simTarget
relative to simTip
's reference frame.you are setting position ofNandanUmrikar wrote: ↑18 Mar 2024, 11:08Code: Select all
--lua sim.setObjectPose(simTarget, {-k * centerX, k * centerY, 0, 0, 0, 0, 1}, simTip)
simTarget
relative to simTip
's reference frame.allowError=true
in that first stage to allow IK to continue handle it anyways, until it goes within tolerance, then you won't need allowError
anymore.