Search found 4 matches

by kapsl
Wed Aug 28, 2019 7:28 am
Forum: PyBullet Support and Feedback
Topic: Dynamically attached fixed joint is not fix
Replies: 2
Views: 2477

Dynamically attached fixed joint is not fix

Till now we loaded our robot model through urdf. In the same urdf file we had also the gripper and a peg attached to the gripper. This worked fine, everything was rigid. Now we want to change the size of the peg (the tool in the gripper) for every reset. The way we tried this by removing the thing f...
by kapsl
Fri May 17, 2019 9:16 am
Forum: PyBullet Support and Feedback
Topic: Joint friction
Replies: 5
Views: 3810

Re: Joint friction

Hi, and thanks for your answer. Ok that makes sense! I do some system identification currently where I just use the second method with damping (currently the same value for linear and angular). Interestingly we partly get really large (and sometimes also negative) values, where the trajectory is mos...
by kapsl
Fri May 17, 2019 8:49 am
Forum: PyBullet Support and Feedback
Topic: Joint friction
Replies: 5
Views: 3810

Re: Joint friction

What do you mean, "like the angular damping" Damping is something I can set and it works?!
by kapsl
Thu May 16, 2019 1:53 pm
Forum: PyBullet Support and Feedback
Topic: Joint friction
Replies: 5
Views: 3810

Joint friction

Hi, we are currently trying to simulate a 7DOF robot arm as close to reality as possible. We therefore want to have joint friction in Torque Control Mode. I read that it is possible to emulate this over setting the force in self._p.setJointMotorControlArray(self.kuka_uid, self._motor_indices, self._...