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Expose IK solver options including DLS and SDLS.

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This commit is contained in:
yunfeibai
2017-10-19 14:00:53 -07:00
parent 1393666a83
commit dda1b05f4a
10 changed files with 64 additions and 20 deletions
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7
examples/pybullet/examples/inverse_kinematics.py
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@@ -39,8 +39,9 @@ useNullSpace = 0
useOrientation = 1
#If we set useSimulation=0, it sets the arm pose to be the IK result directly without using dynamic control.
#This can be used to test the IK result accuracy.
useSimulation = 0
useSimulation = 1
useRealTimeSimulation = 1
ikSolver = 0
p.setRealTimeSimulation(useRealTimeSimulation)
#trailDuration is duration (in seconds) after debug lines will be removed automatically
#use 0 for no-removal
@@ -68,9 +69,9 @@ 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,jointDamping=jd)
jointPoses = p.calculateInverseKinematics(kukaId,kukaEndEffectorIndex,pos,orn,jointDamping=jd,solver=ikSolver)
else:
jointPoses = p.calculateInverseKinematics(kukaId,kukaEndEffectorIndex,pos)
jointPoses = p.calculateInverseKinematics(kukaId,kukaEndEffectorIndex,pos,solver=ikSolver)
if (useSimulation):
for i in range (numJoints):

15
examples/pybullet/pybullet.c
View File

@@ -6998,7 +6998,8 @@ static PyObject* pybullet_calculateInverseKinematics(PyObject* self,
PyObject* targetPosObj = 0;
PyObject* targetOrnObj = 0;
int solver = 0; // the default IK solver is DLS
int physicsClientId = 0;
b3PhysicsClientHandle sm = 0;
PyObject* lowerLimitsObj = 0;
@@ -7007,8 +7008,8 @@ static PyObject* pybullet_calculateInverseKinematics(PyObject* self,
PyObject* restPosesObj = 0;
PyObject* jointDampingObj = 0;
static char* kwlist[] = {"bodyUniqueId", "endEffectorLinkIndex", "targetPosition", "targetOrientation", "lowerLimits", "upperLimits", "jointRanges", "restPoses", "jointDamping", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "iiO|OOOOOOi", kwlist, &bodyUniqueId, &endEffectorLinkIndex, &targetPosObj, &targetOrnObj, &lowerLimitsObj, &upperLimitsObj, &jointRangesObj, &restPosesObj, &jointDampingObj, &physicsClientId))
static char* kwlist[] = {"bodyUniqueId", "endEffectorLinkIndex", "targetPosition", "targetOrientation", "lowerLimits", "upperLimits", "jointRanges", "restPoses", "jointDamping", "solver", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "iiO|OOOOOOii", kwlist, &bodyUniqueId, &endEffectorLinkIndex, &targetPosObj, &targetOrnObj, &lowerLimitsObj, &upperLimitsObj, &jointRangesObj, &restPosesObj, &jointDampingObj, &solver, &physicsClientId))
{
//backward compatibility bodyIndex -> bodyUniqueId. don't update keywords, people need to migrate to bodyUniqueId version
static char* kwlist2[] = {"bodyIndex", "endEffectorLinkIndex", "targetPosition", "targetOrientation", "lowerLimits", "upperLimits", "jointRanges", "restPoses", "jointDamping", "physicsClientId", NULL};
@@ -7106,6 +7107,7 @@ static PyObject* pybullet_calculateInverseKinematics(PyObject* self,
int result;
b3SharedMemoryCommandHandle command = b3CalculateInverseKinematicsCommandInit(sm, bodyUniqueId);
b3CalculateInverseKinematicsSelectSolver(command, solver);
if (hasNullSpace)
{
@@ -8133,6 +8135,13 @@ initpybullet(void)
PyModule_AddIntConstant(m, "ER_TINY_RENDERER", ER_TINY_RENDERER);
PyModule_AddIntConstant(m, "ER_BULLET_HARDWARE_OPENGL", ER_BULLET_HARDWARE_OPENGL);
PyModule_AddIntConstant(m, "IK_DLS", IK_DLS);
PyModule_AddIntConstant(m, "IK_SDLS", IK_SDLS);
PyModule_AddIntConstant(m, "IK_HAS_TARGET_POSITION", IK_HAS_TARGET_POSITION);
PyModule_AddIntConstant(m, "IK_HAS_TARGET_ORIENTATION", IK_HAS_TARGET_ORIENTATION);
PyModule_AddIntConstant(m, "IK_HAS_NULL_SPACE_VELOCITY", IK_HAS_NULL_SPACE_VELOCITY);
PyModule_AddIntConstant(m, "IK_HAS_JOINT_DAMPING", IK_HAS_JOINT_DAMPING);
PyModule_AddIntConstant(m, "URDF_USE_INERTIA_FROM_FILE", URDF_USE_INERTIA_FROM_FILE);
PyModule_AddIntConstant(m, "URDF_USE_SELF_COLLISION", URDF_USE_SELF_COLLISION);