Hi Jeremy,
I am having some troubles with that Model too:
1. The command MoveJ_Test (python) is very slow with this Model. Actually almost unusable.
2. It is not possible to display the workspace. There are only some dots somewhere along the x-plane. Maybe I don't understand it, but it doesn't look right to me.
3. Crossing the x-plane (spanned by the unit x and unit z vector) is causing problems. One joint is not wrapping around and stays locked at one end position, causing the arm to point into some random position. (Not sure if that is really the problem, but just for describing the problem.)
I am having some troubles with that Model too:
1. The command MoveJ_Test (python) is very slow with this Model. Actually almost unusable.
2. It is not possible to display the workspace. There are only some dots somewhere along the x-plane. Maybe I don't understand it, but it doesn't look right to me.
3. Crossing the x-plane (spanned by the unit x and unit z vector) is causing problems. One joint is not wrapping around and stays locked at one end position, causing the arm to point into some random position. (Not sure if that is really the problem, but just for describing the problem.)