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DART example #63

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@costashatz
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commented Jul 1, 2019

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:
image

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..

@mosra mosra referenced this pull request Jul 6, 2019
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Thanks a lot for all this! 👍

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}

/* Update graphic meshes/materials and render */
updateGraphics();

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mosra Jul 10, 2019

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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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costashatz Jul 10, 2019

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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.

@mosra mosra added this to TODO in Project management via automation Jul 10, 2019

@mosra mosra added this to the 2019.0b milestone Jul 10, 2019

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commented Jul 22, 2019

Merged as 8a8ce58. I'm happy that this is finally in! 🎉

@mosra mosra closed this Jul 22, 2019

Project management automation moved this from TODO to Done Jul 22, 2019

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