More flexible IK

[Yann]

Hello,

I'd like to see the IK functionality in CoppeliaSim a bit more flexible and documented, e.g. in order to be able to understand and modify the Jacobian for instance.

Thanks

[coppelia]

Hello,

we are actually working on improving the current IK implementation: you will be able to sepcify a callback routines, in which you can inspect and manipulate the Jacobian as you wish.

Cheers