can't get path data through simIk.generatePath

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Arnold
Posts: 1
Joined: 12 Jun 2022, 13:55

can't get path data through simIk.generatePath

Post by Arnold »

Hello Coppelia,

I want to move the end effector(Tip) from one point to another point along a path. But there wasn't path data generated by the command "simIk.generatePath" when I try it by UR10 referring to the demo "ikPathGenerate.ttt". I kept the settings the same but it didn't work. How can I fix it?
my case: https://drive.google.com/file/d/1ckU2SK ... sp=sharing

Thank you in advance.
Regards,
Arnold

coppelia
Site Admin
Posts: 10336
Joined: 14 Dec 2012, 00:25

Re: can't get path data through simIk.generatePath

Post by coppelia »

Hello Arnold,

the goal is probably not reachable. Try moving it closer. It is also always a good idea to first try with simIK.constraint_position, instead of simIK.constraint_pose, to see if that is possible. Also, starting with the robot in a straight configuration is often tricky, since in that configuration often one or several DoFs are lost. Try setting an angle in the 3rd joint.

Cheers

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