Coppelia Kinematics Routines
Lua API (alphabetical order)

Environment functions and helpers

simIK.createEnvironment
simIK.eraseEnvironment
simIK.load

Objects

simIK.getObjects
simIK.getObjectHandle
simIK.doesObjectExist
simIK.eraseObject
simIK.getObjectParent
simIK.setObjectParent
simIK.getObjectTransformation
simIK.setObjectTransformation
simIK.getObjectMatrix
simIK.setObjectMatrix

Dummies

simIK.createDummy
simIK.eraseObject
simIK.getLinkedDummy
simIK.setLinkedDummy

Joints

simIK.createJoint
simIK.eraseObject
simIK.getJointPosition
simIK.setJointPosition
simIK.getJointMode
simIK.setJointMode
simIK.getJointInterval
simIK.setJointInterval
simIK.getJointDependency
simIK.setJointDependency
simIK.getJointIkWeight
simIK.setJointIkWeight
simIK.getJointMaxStepSize
simIK.setJointMaxStepSize
simIK.getJointScrewPitch
simIK.setJointScrewPitch
simIK.getJointTransformation
simIK.setSphericalJointRotation
simIK.getJointMatrix
simIK.setSphericalJointMatrix

IK groups

simIK.createIkGroup
simIK.getIkGroupHandle
simIK.doesIkGroupExist
simIK.getIkGroupFlags
simIK.setIkGroupFlags
simIK.getIkGroupCalculation
simIK.setIkGroupCalculation

IK elements

simIK.addIkElement
simIK.getIkElementFlags
simIK.setIkElementFlags
simIK.getIkElementConstraints
simIK.setIkElementConstraints
simIK.getIkElementBase
simIK.setIkElementBase
simIK.getIkElementPrecision
simIK.setIkElementPrecision
simIK.getIkElementWeights
simIK.setIkElementWeights

IK calculation

simIK.handleIkGroup
simIK.getConfigForTipPose
simIK.computeJacobian
simIK.getJacobian
simIK.getManipulability