DART example #63
Closed
DART example #63
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
mosra
reviewed
Jul 10, 2019
src/dart/DartExample.cpp
Outdated
| } | ||
|
|
||
| /* Update graphic meshes/materials and render */ | ||
| updateGraphics(); |
There was a problem hiding this comment.
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 :)
There was a problem hiding this comment.
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.
|
Merged as 8a8ce58. I'm happy that this is finally in! 🎉 |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
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..