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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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examples/SharedMemory/PhysicsClientC_API.h
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@@ -122,7 +122,7 @@ 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]);
int b3GetStatusInverseKinematicsJointPositions(b3SharedMemoryStatusHandle statusHandle,
int* bodyUniqueId,