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5 Commits
Author SHA1 Message Date
yunfeibai 0022d0dafb Modify damped least square IK formulation. Test setting joint damping coefficients for IK. 2017-01-31 22:58:37 -08:00
Erwin Coumans c0c4c8ba3f fix many warnings 
remove btMultiSapBroadphase.*
make collisionFilterGroup/collisionFilterMark int (instead of short int)
 2017-01-15 22:26:11 -08:00
yunfeibai 94c7bbe8e3 Add null space task for IK. 2016-09-29 17:12:51 -07:00
yunfeibai 0ee12475af Add matrix inverse computation in BussIK. 2016-09-29 15:45:57 -07:00
erwin coumans 75e86051c2 Add inverse kinematics example with implementations by Sam Buss. 
Uses Kuka IIWA model description and 4 methods:
Selectively Damped Least Squares,Damped Least Squares,
Jacobi Transpose, Jacobi Pseudo Inverse
Tweak some PD values in Inverse Dynamics example and Robot example.
 2016-07-24 22:22:42 -07:00