Search found 11 matches

by LocknutBushing
Tue Jul 06, 2021 3:34 am
Forum: PyBullet Support and Feedback
Topic: [Interesting finding] The humanoid can fly in Pybullet
Replies: 3
Views: 37362

Re: [Interesting finding] The humanoid can fly in Pybullet

This is a major problem that has been obstructing my work as well. My robot goes flying into the air, violating the laws of physics, if it starts to fall over. I would really like to know if there's a way to mitigate this bug, so that I can code the robot properly.
by LocknutBushing
Thu Feb 06, 2020 5:03 am
Forum: PyBullet Support and Feedback
Topic: Model keeps swinging back and forth and is not fixed to the ground
Replies: 5
Views: 11152

Re: Model keeps swinging back and forth and is not fixed to the ground

I'm glad you solved it, although I'm puzzled as to why that worked.
by LocknutBushing
Sun Jan 26, 2020 4:47 am
Forum: PyBullet Support and Feedback
Topic: Model keeps swinging back and forth and is not fixed to the ground
Replies: 5
Views: 11152

Re: Model keeps swinging back and forth and is not fixed to the ground

I'm not entirely sure what you mean by swinging back and forth, that's especially confusing terminology when you're already talking about a pendulum. But if you mean the base of the pendulum is shaking, you can make it fixed in place easily: robot = p.loadURDF("[insert urdf path here]", us...
by LocknutBushing
Tue Jan 21, 2020 5:48 am
Forum: PyBullet Support and Feedback
Topic: Robot Joints stiff despite no damping and deactivated motors
Replies: 4
Views: 7568

Re: Robot Joints stiff despite no damping and deactivated motors

Also solved. This seems to have been due to continuous joints still being affected by joint limits, but only in POSITION_CONTROL. Not sure why that is.
by LocknutBushing
Mon Jan 20, 2020 12:25 am
Forum: PyBullet Support and Feedback
Topic: Robot Joints stiff despite no damping and deactivated motors
Replies: 4
Views: 7568

Re: Robot Joints stiff despite no damping and deactivated motors

Update: Joints still snap back to the default position in position control mode, regardless of the position command...
by LocknutBushing
Sun Jan 19, 2020 8:54 pm
Forum: PyBullet Support and Feedback
Topic: Robot Joints stiff despite no damping and deactivated motors
Replies: 4
Views: 7568

Re: Robot Joints stiff despite no damping and deactivated motors

Problem solved--the issue was due to using revolute joints with both the upper and lower angle limits defaulting to 0. I changed the joints to "continuous" and the robot is as floppy as boiled spaghetti.
by LocknutBushing
Sun Jan 19, 2020 8:52 pm
Forum: PyBullet Support and Feedback
Topic: URDF model falls through the ground
Replies: 6
Views: 10606

Re: URDF model falls through the ground

I'm not sure why your joints aren't working. How exactly did you generate the URDF?
by LocknutBushing
Sun Jan 19, 2020 8:44 pm
Forum: PyBullet Support and Feedback
Topic: URDF model falls through the ground
Replies: 6
Views: 10606

Re: URDF model falls through the ground

Hi, All components within the same URDF model have collision with each other disabled by default. The easiest way to get ground collision is to load the ground plane in as a separate model. import pybullet_data p.setAdditionalSearchPath(pybullet_data.getDataPath()) planeID = p.loadURDF("plane.u...
by LocknutBushing
Sun Jan 19, 2020 4:56 am
Forum: PyBullet Support and Feedback
Topic: Robot Joints stiff despite no damping and deactivated motors
Replies: 4
Views: 7568

Re: Robot Joints stiff despite no damping and deactivated motors

More detail: I fixed the base and have found that I am able to drag some of the links a bit, but the joints resist and then snap back to the default position as soon as I let go.
by LocknutBushing
Sun Jan 19, 2020 12:07 am
Forum: PyBullet Support and Feedback
Topic: Robot Joints stiff despite no damping and deactivated motors
Replies: 4
Views: 7568

Robot Joints stiff despite no damping and deactivated motors

Hi, I'm new to PyBullet, so I wouldn't be surprised if the answer to my question is something fairly obvious. I used the SolidWorks to URDF exporter to export my bipedal robot design to PyBullet. When the model loads in and I run the simulation in real time, the robot can fall over on its side but t...