Maastricht_University_Projects/bullet_muscle_sim
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Disable default position and velocity based motor control of joints

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This commit is contained in:
Michael Zechmair
2022-05-17 14:36:11 +02:00
parent e2f21cefd0
commit c49e54893c
1 changed files with 10 additions and 0 deletions
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10
arm_1dof/robot_arm_1dof.py
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@@ -30,6 +30,16 @@ class RobotArm1Dof:
physicsClientId=self._bullet_ctrl.server_id) physicsClientId=self._bullet_ctrl.server_id)
self._lower_arm_mass = dyn_info[1] self._lower_arm_mass = dyn_info[1]
# Disable position and velocity based joint motor controls
pybullet.setJointMotorControlArray(self._body_id, jointIndices=[RobotArm1Dof.SHOULDER_A_JOINT_ID, RobotArm1Dof.ELBOW_JOINT_ID], \
controlMode=pybullet.POSITION_CONTROL, forces=[0.0, 0.0], \
physicsClientId=self._bullet_ctrl.server_id)
pybullet.setJointMotorControlArray(self._body_id, jointIndices=[RobotArm1Dof.SHOULDER_A_JOINT_ID, RobotArm1Dof.ELBOW_JOINT_ID], \
controlMode=pybullet.VELOCITY_CONTROL, forces=[0.0, 0.0], \
physicsClientId=self._bullet_ctrl.server_id)
# Initialize joint/link state storage
self._joint_stats = {} self._joint_stats = {}
self._ee_link_state = None self._ee_link_state = None