CoppeliaSim forums

Posted: **24 Jan 2024, 15:57**

I would like to ask how to establish the inverse kinematics solving module in vrep4.4.0.Once it's done, call ikgroup for the sim.setExplicitHandling () operation.
Following the example:

Code: Select all

enableIk=function(enable)
    if enable then
        sim.setObjectMatrix(ikTarget,-1,sim.getObjectMatrix(ikTip,-1))
        for i=1,#jointHandles,1 do
            sim.setJointMode(jointHandles[i],sim.jointmode_ik,1)
        end
        sim.setExplicitHandling(ikGroup,0)
    else
        sim.setExplicitHandling(ikGroup,1)
        for i=1,#jointHandles,1 do
            sim.setJointMode(jointHandles[i],sim.jointmode_force,0)    
        end
    end
end

function sysCall_init()
    local simBase=sim.getObject('.')
    local simTip=sim.getObject('./tip')
    local simTarget=sim.getObject('./target')
    ikEnv=simIK.createEnvironment()
    ikGroup=simIK.createGroup(ikEnv) 
    simIK.setGroupCalculation(ikEnv,ikGroup,simIK.method_pseudo_inverse,0,6) 
    simIK.addElementFromScene(ikEnv,ikGroup,simBase,simTip,simTarget,simIK.constraint_pose) 
end

The error is Ik group does not exist!!!

Posted: **26 Jan 2024, 10:39**

Hello,

I am not sure I completely understand what you want to do. My understanding is you want to move away from the old way of handling IK, and use the new way?

Your second code section looks right:

Code: Select all

function sysCall_init()
    local simBase=sim.getObject('.')
    local simTip=sim.getObject('./tip')
    local simTarget=sim.getObject('./target')
    ikEnv=simIK.createEnvironment()
    ikGroup=simIK.createGroup(ikEnv) 
    simIK.setGroupCalculation(ikEnv,ikGroup,simIK.method_pseudo_inverse,0,6) 
    simIK.addElementFromScene(ikEnv,ikGroup,simBase,simTip,simTarget,simIK.constraint_pose) 
end

The first part of your code is not compatible with the second part. If you want to enable/disable handling of IK, then you should add following (the actuation section was missing anyways):

Code: Select all

function sysCall_actuation()
    if ikEnabled then
        simIK.handleGroup(ikEnv, ikGroup, {syncWorlds = true, allowError = true})
    end
end

Cheers

CoppeliaSim forums

The establishment of inverse kinematics solution module of vrep4.4.0 version

The establishment of inverse kinematics solution module of vrep4.4.0 version

Re: The establishment of inverse kinematics solution module of vrep4.4.0 version