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An example to compare with and without null space task in IK.

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This commit is contained in:
yunfeibai
2016-09-30 00:43:15 -07:00
parent ee00696ae9
commit 1c1d3db26d
2 changed files with 7 additions and 5 deletions
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8
examples/RoboticsLearning/KukaGraspExample.cpp
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@@ -195,7 +195,7 @@ 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];
@@ -233,10 +233,10 @@ public:
{
b3JointMotorArgs t(CONTROL_MODE_POSITION_VELOCITY_PD);
t.m_targetPosition = ikresults.m_calculatedJointPositions[i];
t.m_maxTorqueValue = 100;
t.m_kp= 1;
t.m_maxTorqueValue = 100.0;
t.m_kp= 1.0;
t.m_targetVelocity = 0;
t.m_kp = 0.5;
t.m_kd = 1.0;
m_robotSim.setJointMotorControl(m_kukaIndex,i,t);
}

4
examples/SharedMemory/IKTrajectoryHelper.cpp
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@@ -181,10 +181,12 @@ bool IKTrajectoryHelper::computeNullspaceVel(int numQ, const double* q_current,
double stayCloseToZeroGain = 0.1;
double stayAwayFromLimitsGain = 10.0;
double q_rest[7] = {0, 0, 0, SIMD_HALF_PI, 0, -SIMD_HALF_PI*0.66, 0};
// Stay close to zero
for (int i = 0; i < numQ; ++i)
{
m_data->m_nullSpaceVelocity[i] = -stayCloseToZeroGain * q_current[i];
m_data->m_nullSpaceVelocity[i] = stayCloseToZeroGain * (q_rest[i]-q_current[i]);
}
// Stay away from joint limits