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8 Commits
Author SHA1 Message Date
erwin coumans 310a330572 fix InverseKinematics+API for a case without tree (custom build Jacobian) 2016-09-22 13:27:09 -07:00
yunfeibai cbda64c5e7 Update theta dot for velocity IK. 2016-09-20 10:24:48 -07:00
yunfeibai bf16c87987 Add orientation constraint to IK. 2016-09-19 17:04:05 -07:00
yunfeibai a00841a498 Compute delta S from Bullet link state. 2016-09-10 19:18:29 -07:00
yunfeibai c198029cb9 Expose body Jacobian in shared memory API. 2016-09-07 16:00:38 -07:00
Erwin Coumans a30ff20e6b preparation for KUKA IK tracking example 2016-08-30 14:44:11 -07:00
Erwin Coumans 53fa57bdc4 make IK compile on Mac OSX 2016-07-24 23:50:18 -07:00
erwin coumans 75e86051c2 Add inverse kinematics example with implementations by Sam Buss. 
Uses Kuka IIWA model description and 4 methods:
Selectively Damped Least Squares,Damped Least Squares,
Jacobi Transpose, Jacobi Pseudo Inverse
Tweak some PD values in Inverse Dynamics example and Robot example.
 2016-07-24 22:22:42 -07:00