mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-15 22:20:12 +00:00
91 lines
2.8 KiB
Python
91 lines
2.8 KiB
Python
## Assume you have run vr_kuka_setup and have default scene set up
|
|
# Require p.setInternalSimFlags(0) in kuka_setup
|
|
import pybullet as p
|
|
import math
|
|
p.connect(p.SHARED_MEMORY)
|
|
|
|
kuka = 3
|
|
kuka_gripper = 7
|
|
POSITION = 1
|
|
BUTTONS = 6
|
|
|
|
THRESHOLD = 1.3
|
|
LOWER_LIMITS = [-.967, -2.0, -2.96, 0.19, -2.96, -2.09, -3.05]
|
|
UPPER_LIMITS = [.96, 2.0, 2.96, 2.29, 2.96, 2.09, 3.05]
|
|
JOINT_RANGE = [5.8, 4, 5.8, 4, 5.8, 4, 6]
|
|
REST_POSE = [0, 0, 0, math.pi / 2, 0, -math.pi * 0.66, 0]
|
|
JOINT_DAMP = [.1, .1, .1, .1, .1, .1, .1]
|
|
REST_JOINT_POS = [-0., -0., 0., 1.570793, 0., -1.036725, 0.000001]
|
|
MAX_FORCE = 500
|
|
|
|
def euc_dist(posA, posB):
|
|
dist = 0.
|
|
for i in range(len(posA)):
|
|
dist += (posA[i] - posB[i]) ** 2
|
|
return dist
|
|
|
|
p.setRealTimeSimulation(1)
|
|
|
|
controllers = [e[0] for e in p.getVREvents()]
|
|
|
|
while True:
|
|
|
|
events = p.getVREvents()
|
|
for e in (events):
|
|
|
|
# Only use one controller
|
|
if e[0] == min(controllers):
|
|
break
|
|
|
|
sq_len = euc_dist(p.getLinkState(kuka, 6)[0], e[POSITION])
|
|
|
|
# A simplistic version of gripper control
|
|
if e[BUTTONS][33] & p.VR_BUTTON_WAS_TRIGGERED:
|
|
# avg = 0.
|
|
for i in range(p.getNumJoints(kuka_gripper)):
|
|
p.setJointMotorControl2(kuka_gripper, i, p.VELOCITY_CONTROL, targetVelocity=5, force=50)
|
|
# posTarget = 0.1 + (1 - min(0.75, e[3])) * 1.5 * math.pi * 0.29;
|
|
# maxPosTarget = 0.55
|
|
# correction = 0.
|
|
# jointPosition = p.getJointState(kuka_gripper, i)[0]
|
|
# if avg:
|
|
# correction = jointPosition - avg
|
|
# if jointPosition < 0:
|
|
# p.resetJointState(kuka_gripper, i, 0)
|
|
# if jointPosition > maxPosTarget:
|
|
# p.resetJointState(kuka_gripper, i, maxPosTarget)
|
|
# if avg:
|
|
|
|
# p.setJointMotorControl2(kuka_gripper, i, p.POSITION_CONTROL,
|
|
# targetPosition=avg, targetVelocity=0.,
|
|
# positionGain=1, velocityGain=0.5, force=50)
|
|
# else:
|
|
# p.setJointMotorControl2(kuka_gripper, i, p.POSITION_CONTROL,
|
|
# targetPosition=posTarget, targetVelocity=0.,
|
|
# positionGain=1, velocityGain=0.5, force=50)
|
|
# avg = p.getJointState(kuka_gripper, i)[0]
|
|
|
|
|
|
if e[BUTTONS][33] & p.VR_BUTTON_WAS_RELEASED:
|
|
for i in range(p.getNumJoints(kuka_gripper)):
|
|
p.setJointMotorControl2(kuka_gripper, i, p.VELOCITY_CONTROL, targetVelocity=-5, force=50)
|
|
|
|
if sq_len < THRESHOLD * THRESHOLD:
|
|
|
|
joint_pos = p.calculateInverseKinematics(kuka, 6, e[POSITION], (0, 1, 0, 0),
|
|
lowerLimits=LOWER_LIMITS, upperLimits=UPPER_LIMITS,
|
|
jointRanges=JOINT_RANGE, restPoses=REST_POSE, jointDamping=JOINT_DAMP)
|
|
for i in range(len(joint_pos)):
|
|
p.setJointMotorControl2(kuka, i, p.POSITION_CONTROL,
|
|
targetPosition=joint_pos[i], targetVelocity=0,
|
|
positionGain=0.6, velocityGain=1.0, force=MAX_FORCE)
|
|
|
|
else:
|
|
# Set back to original rest pose
|
|
for jointIndex in range(p.getNumJoints(kuka)):
|
|
p.setJointMotorControl2(kuka, jointIndex, p.POSITION_CONTROL,
|
|
REST_JOINT_POS[jointIndex], 0)
|
|
|
|
|
|
|