Quick fix of pybullet for IK with orientation constraint.

2016-09-20 11:10:13 -07:00
parent cbda64c5e7
commit c01f6245d0
1 changed files with 3 additions and 1 deletions
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -1663,6 +1663,8 @@ static PyObject* pybullet_calculateInverseKinematicsKuka(PyObject* self,
        if (PyArg_ParseTuple(args, "iO", &bodyIndex, &targetPosObj))
        {
            double pos[3];
+            double ori[4]={0,1.0,0,0};
+            double dt=0.0001;
            
            if (pybullet_internalSetVectord(targetPosObj,pos))
            {
@@ -1671,7 +1673,7 @@ static PyObject* pybullet_calculateInverseKinematicsKuka(PyObject* self,
                int resultBodyIndex;
                int result;
                b3SharedMemoryCommandHandle command = b3CalculateInverseKinematicsCommandInit(sm,bodyIndex,
-                                                                                              pos);
+                                                                                              pos,ori,dt);
                statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
                
                result = b3GetStatusInverseKinematicsJointPositions(statusHandle,