Real-Time Physics Simulation Forum 2022-07-25T02:58:28+00:00 https://pybullet.org/Bullet/phpBB3/app.php/feed/topic/13144 2022-07-25T02:58:28+00:00 2022-07-25T02:58:28+00:00 https://pybullet.org/Bullet/phpBB3/viewtopic.php?p=44066#p44066 <![CDATA[Re: calculateInverseKinematics - currentPosition]]> Statistics: Posted by xibeisiber — Mon Jul 25, 2022 2:58 am

]]> 2021-07-24T18:33:55+00:00 2021-07-24T18:33:55+00:00 https://pybullet.org/Bullet/phpBB3/viewtopic.php?p=43518#p43518 <![CDATA[Re: calculateInverseKinematics - currentPosition]]> Statistics: Posted by ynm13 — Sat Jul 24, 2021 6:33 pm

]]> 2021-01-21T12:48:54+00:00 2021-01-21T12:48:54+00:00 https://pybullet.org/Bullet/phpBB3/viewtopic.php?p=43266#p43266 <![CDATA[calculateInverseKinematics - currentPosition]]>
I want to control my robot using the calculateInverseKinematics function. Since I want to start from my resting position (defined as list with length of DoF), i would like to set this resting position as "starting position" in calculateInverseKinematics.

As the PyBullet Quickstart states ,"currentPosition" should be what I'm interested for.

But:

Code: 

 jointPoses = p.calculateInverseKinematics(        bodyIndex=robot,         endEffectorLinkIndex=gripper_center_point,          targetPosition=pos,         targetOrientation=p.getQuaternionFromEuler(orn),         # jointDamping=jd,        currentPosition=rest_pose,    )
gives me following output after the termination:
Traceback (most recent call last):
File "C:\Users\Robin\dev\pybullet\pybullet_wsg50_implementation\ur_10_with_gripper2.py", line 142, in <module>
jointPoses = p.calculateInverseKinematics(
TypeError: 'currentPosition' is an invalid keyword argument for this function
What is the correct name for this arg then?

Thanks!

Statistics: Posted by robin_rob96 — Thu Jan 21, 2021 12:48 pm

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