Ruckig Online generator

[abrarMahrous]

I am trying to use Ruckig online generator on a 6DOF robot manipulator
I want to set a maximum velocity, acceleration and jerk for each joint

but i am struggeling to understand sim.ruckigPos() function

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int handle = sim.ruckigPos(int dofs, float baseCycleTime, int flags, float[] currentPosVelAccel, 
                           float[] maxVelAccelJerk, int[] selection, float[] targetPosVel)

it gives the following error when I try to set the n dofs to 6 and give it a list of the jerk, velocity and acceleration values

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sim.ruckigPos: incorrect table size. 

here's how i wrote the fuction

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        posVelAccel={0,0,0,0,0,0}
        targetPosVel={lengths[#lengths],0}
        rmlHandle=sim.ruckigPos(6,0.0001,-1,posVelAccel,{maxVel,maxAccel,maxJerk},{1,1,1,1,1,1},targetPosVel)

and hers the valeos send to it

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    local vel=110   
    local accel=40
    local jerk=80


    local maxVel={vel*math.pi/180,vel*math.pi/180,vel*math.pi/180,vel*math.pi/180,vel*math.pi/180,vel*math.pi/180}
    local maxAccel={accel*math.pi/180,accel*math.pi/180,accel*math.pi/180,accel*math.pi/180,accel*math.pi/180,accel*math.pi/180}
    local maxJerk={jerk*math.pi/180,jerk*math.pi/180,jerk*math.pi/180,jerk*math.pi/180,jerk*math.pi/180,jerk*math.pi/180}

[coppelia]

Hello,

sorry for the late reply. Your values need to be all consecutive, e.g.:

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instead of:
{maxVel1, ..., maxVelN}, {maxAccel1, ..., maxAccelN}, {maxJerk1, ..., maxJerkN}

it should be:
{maxVel1, ..., maxVelN, maxAccel1, ..., maxAccelN, maxJerk1, ..., maxJerkN}

Also, posVelAccel should contain 18 values, not 6

Cheers