Maastricht_University_Projects/bullet_muscle_sim
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Explicitly compute link velocity when retrieving joint states

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This commit is contained in:
Michael Zechmair
2022-05-16 13:48:01 +02:00
parent 5ba191c5ab
commit e2f21cefd0
1 changed files with 4 additions and 3 deletions
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7
arm_1dof/robot_arm_1dof.py
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@@ -45,6 +45,7 @@ class RobotArm1Dof:
physicsClientId=self._bullet_ctrl.server_id) physicsClientId=self._bullet_ctrl.server_id)
self._ee_link_state = pybullet.getLinkState(self._body_id, RobotArm1Dof.HAND_LINK_ID, \ self._ee_link_state = pybullet.getLinkState(self._body_id, RobotArm1Dof.HAND_LINK_ID, \
computeLinkVelocity=True,
physicsClientId=self._bullet_ctrl.server_id) physicsClientId=self._bullet_ctrl.server_id)
def JointPos(self, joint_id) -> float: def JointPos(self, joint_id) -> float:
@@ -63,8 +64,8 @@ class RobotArm1Dof:
"""Get end effector vel, linear and angular""" """Get end effector vel, linear and angular"""
return (self._ee_link_state[6], self._ee_link_state[7]) return (self._ee_link_state[6], self._ee_link_state[7])
def SetJointTorque(self, joint_ids, torques) -> None: def SetJointTorques(self, joint_ids, torques) -> None:
"""Sets torque applied to specified joint""" """Sets torques applied to specified joints."""
pybullet.setJointMotorControl2(self._body_id, joint_ids, \ pybullet.setJointMotorControlArray(self._body_id, jointIndices=joint_ids, \
controlMode=pybullet.TORQUE_CONTROL, forces=torques, \ controlMode=pybullet.TORQUE_CONTROL, forces=torques, \
physicsClientId=self._bullet_ctrl.server_id) physicsClientId=self._bullet_ctrl.server_id)