Search found 4 matches

by arpastrana
Tue May 14, 2019 6:39 pm
Forum: PyBullet Support and Feedback
Topic: Position control for robot base?
Replies: 13
Views: 3711

Re: Position control for robot base?

Maybe you can add a small piece of code with the strange behavior you see. Preferably code without dependencies on other files that we can try directly. There could be a problems with the delta_t or maybe with some friction or too-small force or secondary contraints or other. I have attached a fold...
by arpastrana
Wed May 08, 2019 10:02 am
Forum: PyBullet Support and Feedback
Topic: Position control for robot base?
Replies: 13
Views: 3711

Re: Position control for robot base?

hi arpastrana, i understand calling the resetBasePositionAndOrientation() will ignore the dynamic of the simulation, but why the resetBaseVelocity() also "override the effects of the physics simulation". it only change the base velocity. i think the resetBaseVelocity() should can meet your requirem...
by arpastrana
Tue May 07, 2019 8:00 am
Forum: PyBullet Support and Feedback
Topic: Position control for robot base?
Replies: 13
Views: 3711

Re: Position control for robot base?

You can attach the base to the (fixed) world frame with a couple of degrees of freedom. Then you can apply setJointMotorContro2 in POSITION_CONTROL mode, or VELOCITY_CONTROL mode to those degrees of freedom to move the base. We are having a look at applying setJointMotorControl2 in VELOCITY_CONTROL...
by arpastrana
Wed Feb 27, 2019 5:10 pm
Forum: PyBullet Support and Feedback
Topic: Position control for robot base?
Replies: 13
Views: 3711

Re: Position control for robot base?

Hi everyone, I wanted to reactivate the discussion since I'm looking for a way to move a robot's base during simulation by specifying velocities instead of positions . So far, the proposed way to go via changeConstraint() currently takes in frame positions and orientations, but not linear or angular...