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add 1dof to kuka end effector

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Julian
2017-03-13 22:04:16 -07:00
parent 11975ec60b
commit 8145203222
2 changed files with 21 additions and 4 deletions
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examples/pybullet/.DS_Store vendored Normal file
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examples/pybullet/vr_kuka_control.py
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@@ -7,6 +7,7 @@ p.connect(p.SHARED_MEMORY)
kuka = 3 kuka = 3
kuka_gripper = 7 kuka_gripper = 7
POSITION = 1 POSITION = 1
ORIENTATION = 2
BUTTONS = 6 BUTTONS = 6
THRESHOLD = 1.3 THRESHOLD = 1.3
@@ -71,14 +72,30 @@ while True:
p.setJointMotorControl2(kuka_gripper, i, p.VELOCITY_CONTROL, targetVelocity=-5, force=50) p.setJointMotorControl2(kuka_gripper, i, p.VELOCITY_CONTROL, targetVelocity=-5, force=50)
if sq_len < THRESHOLD * THRESHOLD: if sq_len < THRESHOLD * THRESHOLD:
eef_pos = e[POSITION]
joint_pos = p.calculateInverseKinematics(kuka, 6, e[POSITION], (0, 1, 0, 0), joint_pos = p.calculateInverseKinematics(kuka, 6, eef_pos,
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)
for i in range(len(joint_pos)):
# Only need links 1- 5, no need for joint 6 with pure position IK
for i in range(len(joint_pos) - 1):
p.setJointMotorControl2(kuka, i, p.POSITION_CONTROL, p.setJointMotorControl2(kuka, i, p.POSITION_CONTROL,
targetPosition=joint_pos[i], targetVelocity=0, targetPosition=joint_pos[i], targetVelocity=0, positionGain=0.05,
positionGain=0.6, velocityGain=1.0, force=MAX_FORCE) velocityGain=1.0, force=MAX_FORCE)
# Rotate the end effector
targetOrn = e[ORIENTATION]
_, _, z = p.getEulerFromQuaternion(targetOrn)
# End effector needs protection, done by using triangular tricks
p.setJointMotorControl2(kuka, 6, p.POSITION_CONTROL,
targetPosition=np.arcsin(np.sin(z)), targetVelocity=0, positionGain=0.6,
velocityGain=1.0, force=MAX_FORCE)
p.setJointMotorControl2(kuka, 5, p.POSITION_CONTROL,
targetPosition=-math.pi, targetVelocity=0,
positionGain=0.03, velocityGain=1.0, force=MAX_FORCE)
else: else:
# Set back to original rest pose # Set back to original rest pose