IK Interface Requirements

RBDL needs to be installed: (instructions according to https://github.com/rbdl/rbdl)

1. Create folder, and cd into
2. $ git clone https://github.com/rbdl/rbdl
3. mkdir build, and cd build/ 3,5. NOTE: Eigen3 linear algebra library should be installed, probably is installed already, but check!
4. cmake -D CMAKE_BUILD_TYPE=Release -D CMAKE_INSTALL_PREFIX="local path" ../
5. Configure cmake: 5i. ccmake . 5ii. find RBDL_BUILD_PYTHON_WRAPPER and set it to ON 5iii. find RBDL_USE_ROS_URDF_LIBRARY and set it to OFF 5iv. press c e g ... etc (to configure)
6. make
7. make install

wherever you run the roslaunch ros_pybullet_interface exampleIK.launch, before you launch the following path needs to be sourced: export PYTHONPATH=$PYTHONPATH:"local path" + /rbdl/build/python