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

Add joint damping in pybullet IK example.

Browse Source
This commit is contained in:
yunfeibai
2017-02-03 16:36:20 -08:00
parent df07f2aaaa
commit be77fb269f
1 changed files with 3 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
examples/pybullet/inverse_kinematics.py
View File

@@ -22,6 +22,8 @@ ul=[.967,2 ,2.96,2.29,2.96,2.09,3.05]
jr=[5.8,4,5.8,4,5.8,4,6]
#restposes for null space
rp=[0,0,0,0.5*math.pi,0,-math.pi*0.5*0.66,0]
#joint damping coefficents
jd=[0.1,0.1,0.1,0.1,0.1,0.1,0.1]
for i in range (numJoints):
p.resetJointState(kukaId,i,rp[i])
@@ -64,7 +66,7 @@ while 1:
jointPoses = p.calculateInverseKinematics(kukaId,kukaEndEffectorIndex,pos,lowerLimits=ll, upperLimits=ul, jointRanges=jr, restPoses=rp)
else:
if (useOrientation==1):
jointPoses = p.calculateInverseKinematics(kukaId,kukaEndEffectorIndex,pos,orn)
jointPoses = p.calculateInverseKinematics(kukaId,kukaEndEffectorIndex,pos,orn,jointDamping=jd)
else:
jointPoses = p.calculateInverseKinematics(kukaId,kukaEndEffectorIndex,pos)