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

Modify controller constraint in the pybullet vr gripper setup.

Browse Source
This commit is contained in:
yunfeibai
2017-02-22 13:52:49 -08:00
parent 86f0067266
commit 6f2a7220a5
1 changed files with 10 additions and 5 deletions
Download Patch File Download Diff File Expand all files Collapse all files

15
examples/pybullet/vr_kuka_pr2_move.py
View File

@@ -9,14 +9,19 @@ pr2_cid = 1
CONTROLLER_ID = 0
POSITION=1
ORIENTATION=2
ANALOG=3
BUTTONS=6
while True:
events = p.getVREvents()
for e in (events):
if (e[BUTTONS][33]&p.VR_BUTTON_IS_DOWN):
p.changeConstraint(pr2_cid,e[POSITION],e[ORIENTATION], maxForce=50)
#todo
#p.setJointMotorControl2(pr2_gripper,0)
for e in (events):
if e[CONTROLLER_ID] == 3: # To make sure we only get the value for one of the remotes
p.changeConstraint(pr2_cid, e[POSITION], e[ORIENTATION], maxForce=500)
p.setJointMotorControl2(pr2_gripper, 0, controlMode=p.POSITION_CONTROL,
targetPosition=gripper_max_joint - e[ANALOG] * gripper_max_joint,
force=1.0)
p.setJointMotorControl2(pr2_gripper, 2, controlMode=p.POSITION_CONTROL,
targetPosition=gripper_max_joint - e[ANALOG] * gripper_max_joint,
force=1.1)