102 lines
3.3 KiB
Python
102 lines
3.3 KiB
Python
## Assume you have run vr_kuka_setup and have default scene set up
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# Require p.setInternalSimFlags(0) in kuka_setup
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import pybullet as p
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import math
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# import numpy as np
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p.connect(p.SHARED_MEMORY)
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kuka = 3
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kuka_gripper = 7
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POSITION = 1
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ORIENTATION = 2
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ANALOG = 3
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BUTTONS = 6
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THRESHOLD = .5
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LOWER_LIMITS = [-.967, -2.0, -2.96, 0.19, -2.96, -2.09, -3.05]
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UPPER_LIMITS = [.96, 2.0, 2.96, 2.29, 2.96, 2.09, 3.05]
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JOINT_RANGE = [5.8, 4, 5.8, 4, 5.8, 4, 6]
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REST_POSE = [0, 0, 0, math.pi / 2, 0, -math.pi * 0.66, 0]
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JOINT_DAMP = [0.1] * 10
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REST_JOINT_POS = [-0., -0., 0., 1.570793, 0., -1.036725, 0.000001]
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MAX_FORCE = 500
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KUKA_GRIPPER_REST_POS = [0., -0.011130, -0.206421, 0.205143, -0.009999, 0., -0.010055, 0.]
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KUKA_GRIPPER_CLOZ_POS = [
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0.0, -0.047564246423083795, 0.6855956234759611, -0.7479294372303137, 0.05054599996976922, 0.0,
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0.049838105678835724, 0.0
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]
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def euc_dist(posA, posB):
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dist = 0.
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for i in range(len(posA)):
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dist += (posA[i] - posB[i])**2
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return dist
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p.setRealTimeSimulation(1)
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controllers = [e[0] for e in p.getVREvents()]
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for j in range(p.getNumJoints(kuka_gripper)):
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print(p.getJointInfo(kuka_gripper, j))
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while True:
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events = p.getVREvents()
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for e in (events):
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# Only use one controller
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###########################################
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# This is important: make sure there's only one VR Controller!
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if e[0] == controllers[0]:
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break
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sq_len = euc_dist(p.getLinkState(kuka, 6)[0], e[POSITION])
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# A simplistic version of gripper control
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#@TO-DO: Add slider for the gripper
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#for i in range(p.getNumJoints(kuka_gripper)):
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i = 4
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p.setJointMotorControl2(kuka_gripper,
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i,
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p.POSITION_CONTROL,
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targetPosition=e[ANALOG] * 0.05,
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force=10)
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i = 6
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p.setJointMotorControl2(kuka_gripper,
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i,
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p.POSITION_CONTROL,
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targetPosition=e[ANALOG] * 0.05,
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force=10)
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if sq_len < THRESHOLD * THRESHOLD:
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eef_pos = e[POSITION]
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eef_orn = p.getQuaternionFromEuler([0, -math.pi, 0])
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joint_pos = p.calculateInverseKinematics(kuka,
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6,
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eef_pos,
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eef_orn,
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lowerLimits=LOWER_LIMITS,
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upperLimits=UPPER_LIMITS,
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jointRanges=JOINT_RANGE,
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restPoses=REST_POSE,
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jointDamping=JOINT_DAMP)
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for i in range(len(joint_pos)):
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p.setJointMotorControl2(kuka,
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i,
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p.POSITION_CONTROL,
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targetPosition=joint_pos[i],
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targetVelocity=0,
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positionGain=0.15,
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velocityGain=1.0,
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force=MAX_FORCE)
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else:
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# Set back to original rest pose
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for jointIndex in range(p.getNumJoints(kuka)):
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p.setJointMotorControl2(kuka, jointIndex, p.POSITION_CONTROL, REST_JOINT_POS[jointIndex],
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0)
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