Shihao_Wang

ShihaoWang ·

Reading, Thinking & Doing
krishauser/Klampt

selfCollision test

Hi Prof. Hauser,

I am currently using and to detect selfCollision for a given robot model in c++ environment. However, it seems to me that the results given to me from these two functions are not correct. For example, I have the robot's configurat...

krishauser/Klampt

Get Robot Acceleration from Controller

Hi Prof. Hauser,

Is there a direct way to get the robot acceleration vector after I apply a certain type of Klampt controller? I think that on the very low-level controller will act like a local PID controller for each joint, so there should be some funct...

krishauser/Klampt

Signed Distance Field with MeshToImplicitSurface_FMM

Hi Prof. Hauser,

I would like to use the MeshToImplicitSurface_FMM function provided in KrisLibrary to compute signed distance fields of uneven terrains. However, this computation always fails due to mesh.triNeighbors.... error. The failure output is

krishauser/Klampt

Change the low-level reference using SetPIDCommand

Hi Prof. Hauser,

I am not pretty clear about how to change the low-level configuration reference with SetPIDCommand function. For example, if I have two configurations:

  1. config_init is the initial robot configuration.
  2. is the new goal configu...