Debugging IK
- Set the debug level to VERBOSE:
RaveSetDebugLevel(DebugLevel.Verbose)
That will give more output on why IK fails.
- 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.
- Turn env collision checking off and self-collision checking off by passing in a 0 or IkFilterOptions.IgnoreSelfCollisions as the second parameter.