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Add inverse kinematics example with implementations by Sam Buss.

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Uses Kuka IIWA model description and 4 methods:
Selectively Damped Least Squares,Damped Least Squares,
Jacobi Transpose, Jacobi Pseudo Inverse
Tweak some PD values in Inverse Dynamics example and Robot example.
This commit is contained in:
erwin coumans
2016-07-24 22:22:42 -07:00
parent 77b9e1a3e2
commit 75e86051c2
29 changed files with 9926 additions and 29 deletions
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6
examples/SharedMemory/PhysicsClientExample.cpp
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@@ -171,10 +171,10 @@ protected:
b3JointControlSetDesiredPosition(commandHandle, qIndex, targetPos);
b3JointControlSetDesiredVelocity(commandHandle,uIndex,0);
b3JointControlSetKp(commandHandle, qIndex, 0.01);
b3JointControlSetKd(commandHandle, uIndex, 0.1);
b3JointControlSetKp(commandHandle, qIndex, 0.2);
b3JointControlSetKd(commandHandle, uIndex, 1.);
b3JointControlSetMaximumForce(commandHandle,uIndex,1000);
b3JointControlSetMaximumForce(commandHandle,uIndex,5000);
}
}
virtual void physicsDebugDraw(int debugFlags)