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add test end-effector for Kuka iiwa (IK)

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erwin coumans
2016-09-22 19:48:26 -07:00
parent 310a330572
commit e356f4f1f6
6 changed files with 230 additions and 9 deletions
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4
examples/RoboticsLearning/KukaGraspExample.cpp
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@@ -210,8 +210,10 @@ public:
{
b3JointMotorArgs t(CONTROL_MODE_POSITION_VELOCITY_PD);
t.m_targetPosition = ikresults.m_calculatedJointPositions[i];
t.m_maxTorqueValue = 1000;
t.m_maxTorqueValue = 100;
t.m_kp= 1;
t.m_targetVelocity = 0;
t.m_kp = 0.5;
m_robotSim.setJointMotorControl(m_kukaIndex,i,t);
}