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Code Issues Releases Wiki Activity

apply a maximum velocity for the KUKA arm, otherwise motion can become very unrealistic

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erwincoumans 2018-01-16 10:17:57 -08:00
parent af43e6465d
commit 055930817e
1 changed files with 2 additions and 2 deletions
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4
examples/pybullet/gym/pybullet_envs/bullet/kuka.py
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@ -15,7 +15,7 @@ class Kuka:
def __init__(self, urdfRootPath=pybullet_data.getDataPath(), timeStep=0.01):
self.urdfRootPath = urdfRootPath
self.timeStep = timeStep
self.maxVelocity = .35
self.maxForce = 200.
self.fingerAForce = 2
self.fingerBForce = 2.5
@ -146,7 +146,7 @@ class Kuka:
if (self.useSimulation):
for i in range (self.kukaEndEffectorIndex+1):
#print(i)
p.setJointMotorControl2(bodyIndex=self.kukaUid,jointIndex=i,controlMode=p.POSITION_CONTROL,targetPosition=jointPoses[i],targetVelocity=0,force=self.maxForce,positionGain=0.3,velocityGain=1)
p.setJointMotorControl2(bodyUniqueId=self.kukaUid,jointIndex=i,controlMode=p.POSITION_CONTROL,targetPosition=jointPoses[i],targetVelocity=0,force=self.maxForce,maxVelocity=self.maxVelocity, positionGain=0.3,velocityGain=1)
else:
#reset the joint state (ignoring all dynamics, not recommended to use during simulation)
for i in range (self.numJoints):