Real-Time Physics Simulation Forum 2020-06-16T17:50:55+00:00 https://pybullet.org/Bullet/phpBB3/app.php/feed/topic/12981 2020-06-16T17:50:55+00:00 2020-06-16T17:50:55+00:00 https://pybullet.org/Bullet/phpBB3/viewtopic.php?p=42915#p42915 <![CDATA[Re: kuka reverse kinematic issue]]> https://github.com/bulletphysics/bullet ... ematics.py

Statistics: Posted by Erwin Coumans — Tue Jun 16, 2020 5:50 pm

]]> 2020-06-04T17:58:26+00:00 2020-06-04T17:58:26+00:00 https://pybullet.org/Bullet/phpBB3/viewtopic.php?p=42891#p42891 <![CDATA[kuka reverse kinematic issue]]> action = [a1,a2,a3,a4,a5]
a1 should move in x direction but whole robot arm moves in weird way. is that an error in reverse kinematics?
a2 in y direction, but same issue...

a3 correctly moves up and down in z dimension


Code used:
env = KukaGymEnv(renders=args.render, maxSteps=args.mel, actionRepeat=args.repeat)
def main():
for i_episode in range(1000):
print('New Episode:')
obs = env.reset()
ep_reward = 0
for t in range(args.mel):
action = [-0.0,-0.0,0.1,0,0]
obs, reward, done, info = env.step(action)
# print(i, reward, done)
ep_reward += reward[0]
time.sleep(0.1)

if done:
print('Episode done!')
break

Statistics: Posted by culurciello — Thu Jun 04, 2020 5:58 pm

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