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Working with Inverse Kinematics

Debugging IK

  1. Set the debug level to VERBOSE:
RaveSetDebugLevel(DebugLevel.Verbose)

That will give more output on why IK fails.

  1. On FindIKSolution, add a “ikreturn=True” parameter. This will return an IkReturn object and call its GetAction() method in order to get a list of errors that failed. They will be part of IkReturnAction enum.
  2. Turn env collision checking off and self-collision checking off by passing in a 0 or IkFilterOptions.IgnoreSelfCollisions as the second parameter.