Real-Time Physics Simulation Forum 2022-10-11T15:51:49+00:00 https://pybullet.org/Bullet/phpBB3/app.php/feed/topic/13484 2022-10-11T15:51:49+00:00 2022-10-11T15:51:49+00:00 https://pybullet.org/Bullet/phpBB3/viewtopic.php?p=44137#p44137 <![CDATA[Re: Correct way to simulate joint friction and joint damping]]> General Bullet Physics forum which is mostly about Bullet's core C++ library. You are more likely to get answers to your question if you ask in the PyBullet Support and Feedback forum.

Statistics: Posted by drleviathan — Tue Oct 11, 2022 3:51 pm

]]> 2022-10-11T06:17:12+00:00 2022-10-11T06:17:12+00:00 https://pybullet.org/Bullet/phpBB3/viewtopic.php?p=44136#p44136 <![CDATA[Correct way to simulate joint friction and joint damping]]>
So for joint friction, the value specified in URDF is NOT used and it has to be simulated through a velocity motor:

Code: 

p.setJointMotorControl2(self.robot_handle, joint_idx, controlMode=p.VELOCITY_CONTROL, targetVelocity=0, force=joint_friction)
For joint damping, the value specified in URDF is applied automatically to the dynamics of the link. However, do I need to manually set the linear and angular damping field to zero?

Code: 

self._p.changeDynamics(self.robot_handle, joint_idx, linearDamping=0, angularDamping=0, jointDamping=joint_damping)
Having accurate physics is highly desired in my case. Thanks a lot for help in advance.

Statistics: Posted by lyf44 — Tue Oct 11, 2022 6:17 am

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