Search found 3 matches

by JJJK
Mon Nov 11, 2019 1:04 pm
Forum: General Bullet Physics Support and Feedback
Topic: What parameters to tune to stabilize collisions
Replies: 8
Views: 467

Re: What parameters to tune to stabilize collisions

Thanks for the help! I also tried some other things, including replacing the robot URDF by the visually similar MJCF robot description (included in pybullet_data), which is also used in the example environments. However, when inspecting the wireframes of the two robots in the GUI, the collision shap...
by JJJK
Fri Nov 08, 2019 10:09 am
Forum: General Bullet Physics Support and Feedback
Topic: What parameters to tune to stabilize collisions
Replies: 8
Views: 467

Re: What parameters to tune to stabilize collisions

Thanks for the suggestion! Per the manual, I'm trying to do position control (instead of torque control), i.e. (line 141 of runfile): pybullet.setJointMotorControlArray(bodyIndex=self.body_name_2_joints['robot']['body_id'], targetPositions=action, jointIndices=self.robot_joints_index, controlMode=py...
by JJJK
Mon Nov 04, 2019 4:10 pm
Forum: General Bullet Physics Support and Feedback
Topic: What parameters to tune to stabilize collisions
Replies: 8
Views: 467

What parameters to tune to stabilize collisions

Hi all, I'm working on opening a door with a humanoid robot using reinforcement learning. To this extent, I created a gym environment that contains a room with a door (URDF description in room_with_door.txt) in which a humanoid robot (URDF description in humanoid.txt, as taken from pybullet_data) is...