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Quick fix of pybullet for IK with orientation constraint.

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