Search found 4 matches

by Dyu
Wed Dec 09, 2020 2:09 pm
Forum: PyBullet Support and Feedback
Topic: Combining URDFs while keeping joint limits
Replies: 0
Views: 3450

Combining URDFs while keeping joint limits

We are developing a PyBullet robotic toolbox where we can dynamically combine manipulators with different grippers. To this end, our objective is to combine the manipulator and gripper URDFs and load the combined URDF. We use the following example to combine URDFs: https://github.com/bulletphysics/b...
by Dyu
Mon Dec 07, 2020 3:17 pm
Forum: PyBullet Support and Feedback
Topic: Controlling a robot using Position Control, while taking into account the joint velocities
Replies: 0
Views: 3105

Controlling a robot using Position Control, while taking into account the joint velocities

Hi, I want to control a robot using Position Control and at the same time restrict the joint velocities to their maximum values. I need to control all joints at once so using p.setJointMotorControlArray() is preferable instead of p.setJointMotorControl2() Since p.setJointMotorControlArray() does not...
by Dyu
Mon Dec 07, 2020 2:50 pm
Forum: PyBullet Support and Feedback
Topic: Attaching an end effector to a robot
Replies: 0
Views: 2911

Attaching an end effector to a robot

Hi, I have two URDF files corresponding to a robot and a gripper/end-effector. My goal is to attach the end-effector to the robot in a pybullet simulation and have Inverse Kinematics work by returning joint angles for all the joints in both bodies, by supplying the end-effector frame. The program I'...
by Dyu
Sun Oct 11, 2020 1:39 pm
Forum: PyBullet Support and Feedback
Topic: Question Regarding stepSimulation()
Replies: 1
Views: 1911

Question Regarding stepSimulation()

Hi, I'm trying to understand 2 things: 1) I have the franka_panda urdf file loaded. When I run p.setJointMotorControl2(objUid, jointIndex, controlMode=p.POSITION_CONTROL, targetPosition=2) p.stepSimulation() The robot doesn't complete the entire motion even though the target position is within the j...