Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Add the pybullet vrhand.py script used in this haptic video:

Browse Source 
Make sure to run the App_SharedMemoryPhysics_VR with --norobotassets option, then
run vr_kuka_setup.py, to add some environment + objects.
This commit is contained in:
erwincoumans
2017-01-26 17:22:01 -08:00
parent 37ed4b819a
commit 1dec1a39ce
3 changed files with 99 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
examples/pybullet/vr_kuka_setup.py
View File

@@ -22,6 +22,7 @@ kuka = objects[0]
jointPositions=[ -0.000000, -0.000000, 0.000000, 1.570793, 0.000000, -1.036725, 0.000001 ]
for jointIndex in range (p.getNumJoints(kuka)):
p.resetJointState(kuka,jointIndex,jointPositions[jointIndex])
p.setJointMotorControl2(kuka,jointIndex,p.POSITION_CONTROL,jointPositions[jointIndex],0)
objects = [p.loadURDF("lego/lego.urdf", 1.000000,-0.200000,0.700000,0.000000,0.000000,0.000000,1.000000)]
objects = [p.loadURDF("lego/lego.urdf", 1.000000,-0.200000,0.800000,0.000000,0.000000,0.000000,1.000000)]
@@ -35,6 +36,7 @@ p.resetBasePositionAndOrientation(kuka_gripper,[0.923103,-0.200000,1.250036],[-0
jointPositions=[ 0.000000, -0.011130, -0.206421, 0.205143, -0.009999, 0.000000, -0.010055, 0.000000 ]
for jointIndex in range (p.getNumJoints(kuka_gripper)):
p.resetJointState(kuka_gripper,jointIndex,jointPositions[jointIndex])
p.setJointMotorControl2(kuka_gripper,jointIndex,p.POSITION_CONTROL,jointPositions[jointIndex],0)
kuka_cid = p.createConstraint(kuka, 6, kuka_gripper,0,p.JOINT_FIXED, [0,0,0], [0,0,0.05],[0,0,0])