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small tweak in inverse_kinematics.py example, to make it run better on OSX

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Erwin Coumans
2017-01-11 21:57:02 -08:00
parent 4897139dad
commit 8caea20425
1 changed files with 4 additions and 4 deletions
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8
examples/pybullet/inverse_kinematics.py
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@@ -3,7 +3,7 @@ import time
import math import math
from datetime import datetime from datetime import datetime
#clid = p.connect(p.SHARED_MEMORY)
p.connect(p.GUI) p.connect(p.GUI)
p.loadURDF("plane.urdf",[0,0,-0.3]) p.loadURDF("plane.urdf",[0,0,-0.3])
kukaId = p.loadURDF("kuka_iiwa/model.urdf",[0,0,0]) kukaId = p.loadURDF("kuka_iiwa/model.urdf",[0,0,0])
@@ -52,7 +52,7 @@ while 1:
if (useSimulation and useRealTimeSimulation==0): if (useSimulation and useRealTimeSimulation==0):
p.stepSimulation() p.stepSimulation()
for i in range (25): for i in range (1):
pos = [-0.4,0.2*math.cos(t),0.+0.2*math.sin(t)] pos = [-0.4,0.2*math.cos(t),0.+0.2*math.sin(t)]
#end effector points down, not up (in case useOrientation==1) #end effector points down, not up (in case useOrientation==1)
orn = p.getQuaternionFromEuler([0,-math.pi,0]) orn = p.getQuaternionFromEuler([0,-math.pi,0])
@@ -70,7 +70,7 @@ while 1:
if (useSimulation): if (useSimulation):
for i in range (numJoints): for i in range (numJoints):
p.setJointMotorControl2(bodyIndex=kukaId,jointIndex=i,controlMode=p.POSITION_CONTROL,targetPosition=jointPoses[i],targetVelocity=0,force=300,positionGain=0.3,velocityGain=1) p.setJointMotorControl2(bodyIndex=kukaId,jointIndex=i,controlMode=p.POSITION_CONTROL,targetPosition=jointPoses[i],targetVelocity=0,force=500,positionGain=0.03,velocityGain=1)
else: else:
#reset the joint state (ignoring all dynamics, not recommended to use during simulation) #reset the joint state (ignoring all dynamics, not recommended to use during simulation)
for i in range (numJoints): for i in range (numJoints):
@@ -82,4 +82,4 @@ while 1:
p.addUserDebugLine(prevPose1,ls[4],[1,0,0],1,trailDuration) p.addUserDebugLine(prevPose1,ls[4],[1,0,0],1,trailDuration)
prevPose=pos prevPose=pos
prevPose1=ls[4] prevPose1=ls[4]
hasPrevPose = 1 hasPrevPose = 1