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expose PyBullet.calculateInverseKinematics2 that allows to specify multiple IK end effector locations (not multiple orientations)

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usage example:
jointPoses = p.calculateInverseKinematics2(bodyUniqueId, [endEffectorLinkIndices], [endEffectorTargetWorldPositions])
This commit is contained in:
Erwin Coumans
2019-07-10 17:21:18 -07:00
parent bb8f621bf9
commit ee9575167d
9 changed files with 546 additions and 80 deletions
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7
examples/SharedMemory/SharedMemoryCommands.h
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@@ -30,7 +30,7 @@ typedef unsigned long long int smUint64_t;
#endif
#define SHARED_MEMORY_SERVER_TEST_C
#define MAX_DEGREE_OF_FREEDOM 128
#define MAX_DEGREE_OF_FREEDOM 128
#define MAX_NUM_SENSORS 256
#define MAX_URDF_FILENAME_LENGTH 1024
#define MAX_SDF_FILENAME_LENGTH 1024
@@ -740,9 +740,10 @@ struct CalculateInverseKinematicsArgs
{
int m_bodyUniqueId;
// double m_jointPositionsQ[MAX_DEGREE_OF_FREEDOM];
double m_targetPosition[3];
double m_targetPositions[MAX_DEGREE_OF_FREEDOM*3];
int m_numEndEffectorLinkIndices;
double m_targetOrientation[4]; //orientation represented as quaternion, x,y,z,w
int m_endEffectorLinkIndex;
int m_endEffectorLinkIndices[MAX_DEGREE_OF_FREEDOM];
double m_lowerLimit[MAX_DEGREE_OF_FREEDOM];
double m_upperLimit[MAX_DEGREE_OF_FREEDOM];
double m_jointRange[MAX_DEGREE_OF_FREEDOM];