DART example#63
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costashatz wants to merge 13 commits into
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mosra
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Jul 10, 2019
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| /* Update graphic meshes/materials and render */ | ||
| updateGraphics(); |
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I think the contents of updateManipulator() and updateGraphics() could be both directly here I think, no need to have them in a separate function (that's only called from a single place anyway). The current way makes it look like there's "almost nothing" done in the draw event, which is far from true :)
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I have only put the contents of updateGraphics() in the drawEvent() as the the updateManipulator() is not directly related to any graphics. Of course, we need to call it within the drawEvent(), but I think it'd be easier for people to follow that way.
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Merged as 8a8ce58. I'm happy that this is finally in! 🎉 |
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This PR adds an example of using the DartIntegration. The example consists of a KUKA Iiwa (14kg payload -- model got from here) manipulator equipped with a Robotiq 2-finger gripper (model got from here) that the user can control to make some small towers of boxes. Here's an example of how a completed tower would look like:
The code also includes some basic operational space control for manipulators. In the blogpost that will come, I will explain also in detail the robotics aspects and the model-based controller.
This PR is almost finished; I think I only need to add a few lines of documentation and explanation on how to use it.. @mosra let me know what you think and sorry for being late..