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Modify damped least square IK formulation. Test setting joint damping coefficients for IK.

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yunfeibai
2017-01-31 22:58:37 -08:00
parent 2fa3e267fc
commit 0022d0dafb
8 changed files with 59 additions and 5 deletions
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3
examples/RoboticsLearning/KukaGraspExample.cpp
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@@ -148,6 +148,7 @@ public:
m_time+=dt;
m_targetPos.setValue(0.4-0.4*b3Cos( m_time), 0, 0.8+0.4*b3Cos( m_time));
m_targetOri.setValue(0, 1.0, 0, 0);
m_targetPos.setValue(0.2*b3Cos( m_time), 0.2*b3Sin( m_time), 1.1);
int numJoints = m_robotSim.getNumJoints(m_kukaIndex);
@@ -195,7 +196,7 @@ public:
ikargs.m_endEffectorTargetPosition[1] = targetPosDataOut.m_floats[1];
ikargs.m_endEffectorTargetPosition[2] = targetPosDataOut.m_floats[2];
ikargs.m_flags |= /*B3_HAS_IK_TARGET_ORIENTATION +*/ B3_HAS_NULL_SPACE_VELOCITY;
//ikargs.m_flags |= /*B3_HAS_IK_TARGET_ORIENTATION +*/ B3_HAS_NULL_SPACE_VELOCITY;
ikargs.m_endEffectorTargetOrientation[0] = targetOriDataOut.m_floats[0];
ikargs.m_endEffectorTargetOrientation[1] = targetOriDataOut.m_floats[1];