Real-Time Physics Simulation Forum2022-04-14T14:56:33+00:00https://pybullet.org/Bullet/phpBB3/app.php/feed/topic/134202022-04-14T14:56:33+00:002022-04-14T14:56:33+00:00https://pybullet.org/Bullet/phpBB3/viewtopic.php?p=43981#p43981<![CDATA[Constraint the position of the 7th axis in some cases]]> We have a 7 axis robot. In some specific cases, we want to constraint it's position in some specific cases.
Is there a programmatic way (out of the the URDF) to say: "the 7th axe shall be fixed for this computation of the inverse cinematic".
Something like (pseudo code):
Code:
def compute_inverse_cinematic(case,position): if case==2: joins[2] = np.pi/4 fix_join(2) ...