Add Multibody::inverse_kinematics, Multibody::inverse_kinematics_delta,
and ::inverse_kinematics_delta_with_jacobian
for running inverse kinematics on a multibody to align one its links pose to the given prescribed pose.
Add InverseKinematicsOption to customize some behaviors of the inverse-kinematics solver.
Add Multibody::body_jacobian to get the jacobian of a specific link.
Add Multibody::update_rigid_bodies to update rigid-bodies based on the multibody links poses.
Add Multibody::forward_kinematics_single_link to run forward-kinematics to compute the new pose and jacobian of a
single link without mutating the multibody. This can take an optional displacement on generalized coordinates that are
taken into account during transform propagation.
Modified
The Multibody::forward_kinematics method will no longer automatically update the poses of the RigidBody associated
to each joint. Instead Multibody::update_rigid_bodies has to be called explicitly.
The Multibody::forward_kinematics method will automatically adjust the multibody’s degrees of freedom if the root
rigid-body changed type (between dynamic and non-dynamic). It can also optionally apply the root’s rigid-body pose
instead of the root link’s pose (useful for example if you modified the root rigid-body pose externally and wanted
to propagate it to the multibody).
Sirmadeira
commented
1 month ago
This PR adds a simple jacobian-based inverse-kinematics solver to multibodies.
https://github.com/dimforge/rapier/assets/1734958/da2b17a4-3cf0-470a-ab8f-80fb876e953a
Added
Multibody::inverse_kinematics,Multibody::inverse_kinematics_delta, and::inverse_kinematics_delta_with_jacobianfor running inverse kinematics on a multibody to align one its links pose to the given prescribed pose.InverseKinematicsOptionto customize some behaviors of the inverse-kinematics solver.Multibody::body_jacobianto get the jacobian of a specific link.Multibody::update_rigid_bodiesto update rigid-bodies based on the multibody links poses.Multibody::forward_kinematics_single_linkto run forward-kinematics to compute the new pose and jacobian of a single link without mutating the multibody. This can take an optional displacement on generalized coordinates that are taken into account during transform propagation.Modified
Multibody::forward_kinematicsmethod will no longer automatically update the poses of theRigidBodyassociated to each joint. InsteadMultibody::update_rigid_bodieshas to be called explicitly.Multibody::forward_kinematicsmethod will automatically adjust the multibody’s degrees of freedom if the root rigid-body changed type (between dynamic and non-dynamic). It can also optionally apply the root’s rigid-body pose instead of the root link’s pose (useful for example if you modified the root rigid-body pose externally and wanted to propagate it to the multibody).