Modify the joint damping input check, and output error message when it doesn't pass the size check. Modify the kuka grasping example accordingly. Setting joint damping in this example was a no-op before.

2017-09-27 15:18:08 -07:00
parent adcece7927
commit 113e103bc2
2 changed files with 24 additions and 8 deletions
--- a/examples/pybullet/gym/pybullet_envs/bullet/kuka.py
+++ b/examples/pybullet/gym/pybullet_envs/bullet/kuka.py
@@ -34,7 +34,7 @@ class Kuka:
    #restposes for null space
    self.rp=[0,0,0,0.5*math.pi,0,-math.pi*0.5*0.66,0]
    #joint damping coefficents
-    self.jd=[0.1,0.1,0.1,0.1,0.1,0.1,0.1]
+    self.jd=[0.00001,0.00001,0.00001,0.00001,0.00001,0.00001,0.00001,0.00001,0.00001,0.00001,0.00001,0.00001,0.00001,0.00001]
    self.reset()
    
  def reset(self):