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Adjust the IK setup to address the inverse kinematics issues mentioned in #1249.

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yunfeibai
2017-09-27 14:14:57 -07:00
parent 4d0d9f9870
commit adcece7927
3 changed files with 13 additions and 4 deletions
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4
examples/SharedMemory/IKTrajectoryHelper.cpp
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@@ -185,7 +185,9 @@ bool IKTrajectoryHelper::computeNullspaceVel(int numQ, const double* q_current,
{
m_data->m_nullSpaceVelocity.SetLength(numQ);
m_data->m_nullSpaceVelocity.SetZero();
double stayCloseToZeroGain = 0.1;
// TODO: Expose the coefficents of the null space term so that the user can choose to balance the null space task and the IK target task.
// Can also adaptively adjust the coefficients based on the residual of the null space velocity in the IK target task space.
double stayCloseToZeroGain = 0.001;
double stayAwayFromLimitsGain = 10.0;
// Stay close to zero