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implement accurate inverse kinematics in C++. PyBullet.calculateInverseKinematics gets "maxNumIterations=20", "residualThreshold=1.04" to tune

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allow to provide current joint positions in IK, overriding the body joint positions, also IK target will be in local coordinates.
expose b3ComputeDofCount in C-API
This commit is contained in:
erwincoumans
2018-05-31 16:06:15 -07:00
parent 11d8f069f0
commit edc70582dd
7 changed files with 429 additions and 247 deletions
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6
examples/pybullet/examples/inverse_kinematics.py
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@@ -34,12 +34,12 @@ t=0.
prevPose=[0,0,0]
prevPose1=[0,0,0]
hasPrevPose = 0
useNullSpace = 0
useNullSpace = 1
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 = 1
useSimulation = 0
useRealTimeSimulation = 1
ikSolver = 0
p.setRealTimeSimulation(useRealTimeSimulation)
@@ -69,7 +69,7 @@ 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,jointDamping=jd,solver=ikSolver)
jointPoses = p.calculateInverseKinematics(kukaId,kukaEndEffectorIndex,pos,orn,jointDamping=jd,solver=ikSolver, maxNumIterations=100, residualThreshold=.01)
else:
jointPoses = p.calculateInverseKinematics(kukaId,kukaEndEffectorIndex,pos,solver=ikSolver)