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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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2
examples/ThirdPartyLibs/BussIK/Jacobian.h
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@@ -57,7 +57,7 @@ class Jacobian
{
public:
Jacobian(Tree*);
Jacobian(bool useAngularJacobian, int nDof);
Jacobian(bool useAngularJacobian, int nDof, int numEndEffectors);
void ComputeJacobian(VectorR3* targets);
const MatrixRmn& ActiveJacobian() const { return *Jactive; }