Hello.

I have one problem with programming. When I drive a robot to the desired position I get information of 3 angels of the robot ( Alpha, Beta, and Gama). Which angle do I need to use in the program?

For example:

Positions of the robot are:

Joint1 - ALPHA = 0 ; BETA = 0 ; GAMA= -65 ;

Joint2 - ALPHA = -90 ; BETA = 60 ; GAMA= -25 ;

Joint3 - ALPHA = -90 ; BETA = 60 ; GAMA= -150 ;

Joint4 - ALPHA = -90 ; BETA = 60 ; GAMA= -180 ;

Joint 5 -ALPHA = 180 ; BETA = -0,0067; GAMA= 180;

Joint6 - ALPHA = -90 ; BETA =-0,00072; GAMA=-180 ;

targetPos1={-65*math.pi/180, ??? *math.pi/180,??? *math.pi/180, ??? *math.pi/180, ??? *math.pi/180,??? *math.pi/180}

sim.rmlMoveToJointPositions(jointHandles,-1,currentVel,currentAccel,maxVel,maxAccel,maxJerk,targetPos1,targetVel)

Which number do I need to write instead of "???" ?

Cheers

## sim.rmlMoveToJointPositions -which angle?

### Re: sim.rmlMoveToJointPositions -which angle?

Hello,

I don't understand your question. With a robot, you have a configuration or state, which is a set a joint values. Not sure what those 3 values are for each joint...

cheers

I don't understand your question. With a robot, you have a configuration or state, which is a set a joint values. Not sure what those 3 values are for each joint...

cheers