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tweak pole IK demo

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This commit is contained in:
Erwin Coumans
2018-09-25 06:22:06 +00:00
parent 180a9f5103
commit f20b7bb07c
1 changed files with 2 additions and 2 deletions
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4
examples/pybullet/examples/inverse_kinematics_pole.py
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@@ -16,7 +16,7 @@ p.resetBasePositionAndOrientation(sawyerId,[0,0,0],[0,0,0,1])
sawyerEndEffectorIndex = 3 sawyerEndEffectorIndex = 3
numJoints = p.getNumJoints(sawyerId) numJoints = p.getNumJoints(sawyerId)
#joint damping coefficents #joint damping coefficents
jd=[0.01,0.01,0.01,0.01] jd=[0.1,0.1,0.1,0.1]
p.setGravity(0,0,0) p.setGravity(0,0,0)
t=0. t=0.
@@ -41,7 +41,7 @@ while 1:
for i in range (1): for i in range (1):
pos = [2.*math.cos(t),2.*math.cos(t),0.+2.*math.sin(t)] pos = [2.*math.cos(t),2.*math.cos(t),0.+2.*math.sin(t)]
jointPoses = p.calculateInverseKinematics(sawyerId,sawyerEndEffectorIndex,pos,jointDamping=jd,solver=ikSolver) jointPoses = p.calculateInverseKinematics(sawyerId,sawyerEndEffectorIndex,pos,jointDamping=jd,solver=ikSolver, maxNumIterations=100)
#reset the joint state (ignoring all dynamics, not recommended to use during simulation) #reset the joint state (ignoring all dynamics, not recommended to use during simulation)
for i in range (numJoints): for i in range (numJoints):