It is a challenging simulation problem. Make sure to 'unlock' the joint motors first, as usual.
(for each joint, setJointMotorControl2(obUid, linkIndex, p.VELOCITY_CONTROL, force=0 or close to 0).
I haven't created such robot yet, it may require a lot of effort to set this up properly.
Search found 4221 matches
- Tue Jun 16, 2020 5:52 pm
- Forum: PyBullet Support and Feedback
- Topic: mecanum wheels
- Replies: 2
- Views: 37317
- Tue Jun 16, 2020 5:50 pm
- Forum: PyBullet Support and Feedback
- Topic: kuka reverse kinematic issue
- Replies: 1
- Views: 6970
Re: kuka reverse kinematic issue
There are some inverse kinematics examples with Kuka, see https://github.com/bulletphysics/bullet ... ematics.py
- Tue Jun 16, 2020 5:49 pm
- Forum: PyBullet Support and Feedback
- Topic: Setting Hard Constraints?
- Replies: 2
- Views: 7845
Re: Setting Hard Constraints?
Increasing the number of solver iterations, or using a smaller time step, or increase the number of substeps. You can also improve convergence by making the masses more similar, if possible (PGS solver converges slower when large mass differences are present, such as 100 kg and 0.1 kg etc) Another o...
- Tue Jun 16, 2020 5:48 pm
- Forum: PyBullet Support and Feedback
- Topic: Issue with loading a URDF file
- Replies: 1
- Views: 6464
Re: Issue with loading a URDF file
I would recommend looking at all the various URDF files that come with PyBullet and compare with yours.
https://github.com/bulletphysics/bullet ... aster/data
https://github.com/bulletphysics/bullet ... ullet_data
https://github.com/bulletphysics/bullet ... aster/data
https://github.com/bulletphysics/bullet ... ullet_data
- Sat Jun 06, 2020 6:35 am
- Forum: PyBullet Support and Feedback
- Topic: Not connected to physics server when trying to run environment
- Replies: 7
- Views: 64508
Re: Not connected to physics server when trying to run environment
Comment this code and replace them with a pass, everything will be fine. The pybullet connection for those envs are created in the env.reset() method. You are making a call to global pybullet.getNumBodies before calling the reset, which is wrong. Also, it is unsafe to use global pybullet together w...
- Sat Jun 06, 2020 6:03 am
- Forum: PyBullet Support and Feedback
- Topic: Rewards function
- Replies: 3
- Views: 7862
Re: Rewards function
I am using PyBullet 2.5.9 and Python 3.6.9 That is a very old pybullet version, can you update to the latest and check again? pip3 install pybullet --upgrade --user >> delay with env.close() as reported here No, that is not the issue and not a bug. The Gym env creates a connection during 'reset', n...
- Wed Jun 03, 2020 10:50 pm
- Forum: General Bullet Physics Support and Feedback
- Topic: Combining two Rigid Bodies?
- Replies: 10
- Views: 17942
Re: Combining two Rigid Bodies?
btCompoundShape::calculatePrincipalAxisTransform can compute the new masses and offsets: https://pybullet.org/Bullet/BulletFull/btCompoundShape_8cpp_source.html#l00216 Another option is using btMultiBody and fixed joints. In PyBullet there is an example 'combine_urdf' that can combine two bodies. Al...
- Sat Apr 25, 2020 2:27 pm
- Forum: PyBullet Support and Feedback
- Topic: bot gets unstable and blows away after some time
- Replies: 4
- Views: 10975
Re: bot gets unstable and blows away after some time
The urdf file is missing, so we cannot reproduce it.
- Tue Apr 21, 2020 7:30 pm
- Forum: PyBullet Support and Feedback
- Topic: Robot description not loaded - TCP server client connection
- Replies: 1
- Views: 6204
Re: Robot description not loaded - TCP server client connection
There could be some issues in the implementation, as discussed here:
https://github.com/bulletphysics/bullet ... -617133707
Please check it out again soon.
https://github.com/bulletphysics/bullet ... -617133707
Please check it out again soon.
- Mon Apr 20, 2020 11:04 pm
- Forum: PyBullet Support and Feedback
- Topic: MUJOCO loadMJCF actuator control
- Replies: 1
- Views: 6245
Re: MUJOCO loadMJCF actuator control
Please share a minimal script you use to move your robot. Note that by default, all joints have joint motors with a velocity target of 0.
You may need to disable them:
You may need to disable them:
Code: Select all
for j in range (p.getNumJoints(robot)):
p.setJointMotorControl2(robot,j, p.VELOCITY_CONTROL, force=0)
- Mon Apr 20, 2020 9:34 pm
- Forum: PyBullet Support and Feedback
- Topic: remove UserDebugParameters
- Replies: 2
- Views: 7224
Re: remove UserDebugParameters
Use removeAllUserParameters, see the PyBullet Quickstart Guide.
- Tue Apr 07, 2020 7:44 pm
- Forum: PyBullet Support and Feedback
- Topic: stepSimulation() not equivalent to setRealTimeSimulation(1)
- Replies: 1
- Views: 6845
Re: stepSimulation() not equivalent to setRealTimeSimulation(1)
Testing here there is no difference between stepSimulation and setRealTimeSimulation, both show instable motion due to a degenerate urdf file. Those are urdf files with degenerate values. Avoid too small mass (keep it either 0 or in range 0.01 to 100 or so) avoid large rpy angles, don't use collisio...
- Tue Mar 17, 2020 5:44 pm
- Forum: General Bullet Physics Support and Feedback
- Topic: Pip install 2.6.6 - issues - Windows 10
- Replies: 4
- Views: 10324
Re: Pip install 2.6.6 - issues - Windows 10
I had a closer look and fixed the issue(s).
Try again using pybullet-2.6.9
pip install pybullet --upgrade
Try again using pybullet-2.6.9
pip install pybullet --upgrade
- Tue Mar 17, 2020 3:35 pm
- Forum: General Bullet Physics Support and Feedback
- Topic: Pip install 2.6.6 - issues - Windows 10
- Replies: 4
- Views: 10324
Re: Pip install 2.6.6 - issues - Windows 10
You are not using vs2019, but Visual C++ for Python\9.0.
Uninstall visual c++ for Python and try again,using the command prompt of visual studio 2019.
Uninstall visual c++ for Python and try again,using the command prompt of visual studio 2019.
- Mon Mar 16, 2020 8:35 pm
- Forum: General Bullet Physics Support and Feedback
- Topic: Gravity setting for accurate joint force/torque data
- Replies: 1
- Views: 5271
Re: Gravity setting for accurate joint force/torque data
This is expected: joint reaction forces are influenced by gravity acceleration, there is no explicit gravity compensation performed. The gravity acceleration is N/kg. Also, for more help you may want to create a small reproduction case. There are various robots available in PyBullet SDK (panda, xArm...