::hwat::utils::SetJointAngles

Sets the joint angles of the dummy.

Syntax

SetJointAngles {components} {angles} parentChild option

Arguments

components
Tcl list of component IDs.
angles
Tcl list of lists of angles to apply corresponding to the component list.
parentChild
0 rotates child, 1 rotates parent system
Default = 0
option
Absolute or relative
Default = absolute

Returns

Success
1
Failure
{}

Example

::hwat::utils::SetJointAngles  [list 101 102] [list [list 45 25 0.0] [13.0 0.0  7.5]] 0 relative.

Comments

The component and angle lists must be of equal length. The parent or child will always be rotated around X,Y, and Z, in that order. This function assumes that the angles passed will not cause them to be out of bounds after rotation.