point effector down to table

Official Python bindings with a focus on reinforcement learning and robotics.
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culurciello
Posts: 5
Joined: Thu Feb 13, 2020 8:16 pm

point effector down to table

Post by culurciello »

HI guys, I am new to PyBullet and am not sure how to make the robot arm UR5 point down towards the table.
Please see my code here: https://github.com/culurciello/pybullet_PPO
If you have any pointers it is much appreciate and thanks a lot!
EUGE
culurciello
Posts: 5
Joined: Thu Feb 13, 2020 8:16 pm

Re: point effector down to table

Post by culurciello »

never mind, figured it out, just had to specify better start points in reset, so it point down:

# reset robot simulation and position:
joint_angles = (-0.34, -1.57, 1.80, -1.57, -1.57, 0.00) # pi/2 = 1.5707
self.set_joint_angles(joint_angles)
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