Regular API function

simRMLMoveToJointPositions / sim.rmlMoveToJointPositions

Description Moves (actuates) several joints at the same time using the Reflexxes Motion Library type II or IV. This function can only be called from child scripts running in a thread (since this is a blocking operation) and is not available from the C-API. See also sim.rmlMoveToPosition, and sim.rmlPos.
C synopsis -
C parameters -
C return value -
Lua synopsis number result,table newPos,table newVel,table newAccel,number timeLeft=sim.rmlMoveToJointPositions(table jointHandles,number flags,table currentVel,table currentAccel,table maxVel,table maxAccel,table maxJerk,table targetPos,table targetVel,table direction)
Lua parameters
jointHandles: handles of the joints to actuate
flags: RML flags. -1 for default flags.
currentVel: the current velocity of the joints. Can be nil in which case a velocity vector of 0 is used.
currentAccel: the current acceleration of the joints. Can be nil in which case an acceleration vector of 0 is used.
maxVel: the maximum allowed velocity of the joints
maxAccel: the maximum allowed acceleration of the joints
maxJerk: the maximum allowed jerk of the joints. With the RML type II plugin, the max. jerk will however always be infinite.
targetPos: the desired target positions of the joints
targetVel: the desired velocity of the joints at the target. Can be nil in which case a velocity vector of 0 is used.
direction: the desired rotation direction for cyclic revolute joints: 0 for the shortest distance, -x for a movement towards negative values, +x for a movement towards positive values (n=(x-1) represents the number of additional turns). Can be nil or omitted, in which case a value of 0 is used for all joints.
Lua return values
result: 1 if the function call was successful
newPos: the new positions of the joints
newVel: the new velocities of the joints
newAccel: the new accelerations of the joints
timeLeft: the time left for additional calculations in current simulation time step

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