Regular API function

simRMLMoveToJointPositions / sim.rmlMoveToJointPositions

 Description Deprecated. See sim.moveToConfig instead. C/C++synopsis C/C++parameters C/C++return value Luasynopsis int result,float[] newPos,float[] newVel,float[] newAccel,float timeLeft=sim.rmlMoveToJointPositions(int[] jointHandles,int flags,float[] currentVel,float[] currentAccel,float[] maxVel,float[] maxAccel,float[] maxJerk,float[] targetPos,float[] targetVel,float[] direction) Luaparameters 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. Luareturn 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