I'm working on a C++ project about a robotic arm and I chose Bullet to handle the IK/FK of the robot and some physics besides it.
I use python for my tests and my workspace corresponds to the panda_sim of the repository 'pybullet'. I tweaked it a little to apply a motor on the first joint using the function 'SetJointMotorControl2' and I also set the initial joint/rest positions for all links to 0. So in the method 'panda_sim.py::step', there is only one line used to apply the motor :
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self.bullet_client.setJointMotorControl2(self.panda, 0, self.bullet_client.VELOCITY_CONTROL,
targetVelocity=-1, force = 1000)
Thanks for reading.
Johann NOVAK