I am wondering if V rep has a function which retrieves, instead of the joint position values as in sim.checkIkGroup, the joint velocity values, those obtained knowing the inverse of the Jacobian and the velocity of the gripper ( Q°=J^(-1)*S° ).
In my task I'm using sim.rmlPos to follow an object which is moving on a conveyor belt with my joints set in IK mode.
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rmlObject=sim.rmlPos(3,0.0001,-1,currentPosVelAccel,maxVelAccelJerk,{1,1,1},{jointValues[1],jointValues[2],jointValues[3],Qtarget[1],Qtarget[2],0})
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sim.computeJacobian(ikGroupHandle,0)
Jacobian,JacobianSize=sim.getIkGroupMatrix(ikGroupHandle,0)
but something is wrong.
Could you suggest me something?
Leonardo