Modify the link index when computing Jacobian. Add a test for end effector orientation IK. Inverse dynamics Jacobian uses zero-based indexing of bodies, not starting from -1 for base.

examples/pybullet/examples/ik_end_effector_orientation.py

@@ -0,0 +1,30 @@
+import pybullet as p
+import time
+import math
+from datetime import datetime
+from time import sleep
+
+p.connect(p.GUI)
+p.loadURDF("plane.urdf",[0,0,-0.3])
+kukaId = p.loadURDF("kuka_iiwa/model.urdf",[0,0,0])
+p.resetBasePositionAndOrientation(kukaId,[0,0,0],[0,0,0,1])
+kukaEndEffectorIndex = 6
+numJoints = p.getNumJoints(kukaId)
+
+#Joint damping coefficents. Using large values for the joints that we don't want to move.
+jd=[100.0,100.0,100.0,100.0,100.0,100.0,0.5]
+#jd=[0.5,0.5,0.5,0.5,0.5,0.5,0.5]
+
+p.setGravity(0,0,0)
+
+while 1:
+	p.stepSimulation()
+	for i in range (1):
+		pos = [0,0,1.26]
+		orn = p.getQuaternionFromEuler([0,0,3.14])
+
+		jointPoses = p.calculateInverseKinematics(kukaId,kukaEndEffectorIndex,pos,orn,jointDamping=jd)
+	
+	for i in range (numJoints):
+		p.setJointMotorControl2(bodyIndex=kukaId,jointIndex=i,controlMode=p.POSITION_CONTROL,targetPosition=jointPoses[i],targetVelocity=0,force=500,positionGain=0.03,velocityGain=1)
+	sleep(0.05)