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fixed minor issues, added 1dof on end effector rotation. gripper is raw

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Julian
2017-03-13 22:08:17 -07:00
parent fabe09fe53
commit 7cc31e7c98
1 changed files with 4 additions and 5 deletions
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9
examples/pybullet/vr_kuka_control.py
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@@ -35,7 +35,7 @@ while True:
for e in (events): for e in (events):
# Only use one controller # Only use one controller
if e[0] == min(controllers): if e[0] == controllers[0]:
break break
sq_len = euc_dist(p.getLinkState(kuka, 6)[0], e[POSITION]) sq_len = euc_dist(p.getLinkState(kuka, 6)[0], e[POSITION])
@@ -66,7 +66,6 @@ while True:
# positionGain=1, velocityGain=0.5, force=50) # positionGain=1, velocityGain=0.5, force=50)
# avg = p.getJointState(kuka_gripper, i)[0] # avg = p.getJointState(kuka_gripper, i)[0]
if e[BUTTONS][33] & p.VR_BUTTON_WAS_RELEASED: if e[BUTTONS][33] & p.VR_BUTTON_WAS_RELEASED:
for i in range(p.getNumJoints(kuka_gripper)): for i in range(p.getNumJoints(kuka_gripper)):
p.setJointMotorControl2(kuka_gripper, i, p.VELOCITY_CONTROL, targetVelocity=-5, force=50) p.setJointMotorControl2(kuka_gripper, i, p.VELOCITY_CONTROL, targetVelocity=-5, force=50)
@@ -78,8 +77,8 @@ while True:
lowerLimits=LOWER_LIMITS, upperLimits=UPPER_LIMITS, lowerLimits=LOWER_LIMITS, upperLimits=UPPER_LIMITS,
jointRanges=JOINT_RANGE, restPoses=REST_POSE, jointDamping=JOINT_DAMP) jointRanges=JOINT_RANGE, restPoses=REST_POSE, jointDamping=JOINT_DAMP)
# Only need links 1- 5, no need for joint 6 with pure position IK # Only need links 1- 4, no need for joint 5-6 with pure position IK
for i in range(len(joint_pos) - 1): for i in range(len(joint_pos) - 2):
p.setJointMotorControl2(kuka, i, p.POSITION_CONTROL, p.setJointMotorControl2(kuka, i, p.POSITION_CONTROL,
targetPosition=joint_pos[i], targetVelocity=0, positionGain=0.05, targetPosition=joint_pos[i], targetVelocity=0, positionGain=0.05,
velocityGain=1.0, force=MAX_FORCE) velocityGain=1.0, force=MAX_FORCE)
@@ -90,7 +89,7 @@ while True:
_, _, z = p.getEulerFromQuaternion(targetOrn) _, _, z = p.getEulerFromQuaternion(targetOrn)
# End effector needs protection, done by using triangular tricks # End effector needs protection, done by using triangular tricks
p.setJointMotorControl2(kuka, 6, p.POSITION_CONTROL, p.setJointMotorControl2(kuka, 6, p.POSITION_CONTROL,
targetPosition=np.arcsin(np.sin(z)), targetVelocity=0, positionGain=0.6, targetPosition=np.arcsin(np.sin(z)), targetVelocity=0, positionGain=0.5,
velocityGain=1.0, force=MAX_FORCE) velocityGain=1.0, force=MAX_FORCE)
p.setJointMotorControl2(kuka, 5, p.POSITION_CONTROL, p.setJointMotorControl2(kuka, 5, p.POSITION_CONTROL,