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

Expose IK solver options including DLS and SDLS.

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

7
examples/pybullet/examples/inverse_kinematics.py
View File

@@ -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):