calculateInverseKinematics - currentPosition

[robin_rob96]

Hi,

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: Select all

 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!

[ynm13]

i faced the same problem...

[xibeisiber]

currentPositions..