Adapting Task and Joint Weights
The tutorial can be found in tutorials/kuka_iiwa/cart_pos_ctrl_hls_weights.cpp, documentation can be found here. To run the tutorial, type
cd build/tutorials/kuka_iiwa
./cart_pos_ctrl_hls_weights
This tutorial shows the effect of modifying the task weights and joint weights. If you set a task weight to zero, the corresponding task variable will assume an arbitrary value (and not the desired setpoint). If you set a joint weight to zero, the corresponding joint will not contribute to the task solution, i.e., its velocity will be zero!
Adapting the Task Weights
All task weights are set to 1:
Orientation control deactivated (task weights 4,5,6 set to zero):
Adapting the Joint Weights
All joint weights are set to 1:
Joint 5 deactivated (joint weight 5 set to zero):