Vrep function

Function

1. sim.getObjectHandle(‘PhantomXPincher_joint’…i)

2. sim.getObjectPosition(number objectHandle,number relativeToObjectHandle)
   relativeToObjectHandle: indicates relative to which reference frame we want the position. Specify -1 to retrieve the absolute position
   return value: table of 3 values (x, y and z)

ie. sim.getObjectPosition(tip,-1)[2]

3. sim.getJointPosition(number objectHandle)

ie. sim.getJointPosition(jointHandles[1])

4. sim.setJointTargetVelocity(number objectHandle,number targetVelocity)

ie. sim.setJointTargetVelocity(jointHandles[1],(w1)/57.3)

5. sim.rmlMoveToJointPositions(table jointHandles,number flags,table currentVel,table currentAccel,table maxVel,table maxAccel,table maxJerk,table targetPos,table targetVel,table direction)
   flags: RML flags. -1 for default flags.

6. sim.setObjectInt32Parameter(number objectHandle,number parameterID,number parameter)
   parameterID: identifier of the parameter to retrieve.

ie. sim.setObjectInt32Parameter(jointHandles[1],2001,0)
2001: int32 parameter : dynamic motor control loop enable state (0 or !=0)

7. sim.wait(10)

8. LOOP:
   while true do
   end

9. IF…:
   if () then
   end