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experimental Inverse Kinematics for KUKA iiwa exposed in

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shared memory api and pybullet. Will be extended for arbitrary bodies
and with target orientation (besides target position)
This commit is contained in:
Erwin Coumans
2016-09-13 23:37:46 +01:00
parent e5a8eb2425
commit 5e09b17baf
10 changed files with 303 additions and 129 deletions
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15
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -1320,7 +1320,7 @@ int b3GetStatusJacobian(b3SharedMemoryStatusHandle statusHandle, double* linearJ
///compute the joint positions to move the end effector to a desired target using inverse kinematics
b3SharedMemoryCommandHandle b3CalculateInverseKinematicsCommandInit(b3PhysicsClientHandle physClient, int bodyIndex,
const double* jointPositionsQ, const double targetPosition[3])
const double targetPosition[3])
{
PhysicsClient* cl = (PhysicsClient*)physClient;
b3Assert(cl);
@@ -1331,11 +1331,12 @@ b3SharedMemoryCommandHandle b3CalculateInverseKinematicsCommandInit(b3PhysicsCli
command->m_type = CMD_CALCULATE_INVERSE_KINEMATICS;
command->m_updateFlags = 0;
command->m_calculateInverseKinematicsArguments.m_bodyUniqueId = bodyIndex;
int numJoints = cl->getNumJoints(bodyIndex);
for (int i = 0; i < numJoints;i++)
{
command->m_calculateInverseKinematicsArguments.m_jointPositionsQ[i] = jointPositionsQ[i];
}
//todo
// int numJoints = cl->getNumJoints(bodyIndex);
// for (int i = 0; i < numJoints;i++)
// {
// command->m_calculateInverseKinematicsArguments.m_jointPositionsQ[i] = jointPositionsQ[i];
// }
command->m_calculateInverseKinematicsArguments.m_targetPosition[0] = targetPosition[0];
command->m_calculateInverseKinematicsArguments.m_targetPosition[1] = targetPosition[1];
@@ -1372,5 +1373,5 @@ int b3GetStatusInverseKinematicsJointPositions(b3SharedMemoryStatusHandle status
}
}
return false;
return true;
}