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mosra / magnum-examples

Examples for the Magnum C++11 graphics engine
https://magnum.graphics/
The Unlicense
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DART example #63

Closed costashatz closed 5 years ago

costashatz commented 5 years ago

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 commented 5 years ago

Merged as 8a8ce58f240eb9d1f5ada5377db127640497fc1a. I'm happy that this is finally in! :tada: