Real-Time Physics Simulation Forum

looks not so reasonable. I will check it again later.

i just take a test that change the gravity acceleration to setGravity(0, 0, -0.981) and set robot initial position to robot_init_pos=(0, 0, 200) and then after a while we can find that the base velocity sometimes become very large. i also debug this case and find the acceleration of the base and joi...

thanks for your sharing. i think it should be caused by your selected actions which maybe make the robot jump very high.

Could you provide a complete simple test? thanks.

very interesting! have you found the rootcause?

This is from the assumption of linear elasticity. Similar to Hooke's Law, the torque is promotional to how much it displaces from the equilibrium position (angle). i hava an intuition that the torque of joint near the base should be larger than the joint near the end given the same delta theta, rig...

sorry, i still don't understand why this function be written like that. i have some questions as below. 1. where do these constants come from such as -1.5e-3, 1.5735*1e5? 2. why the joint torque only have relation with the joint delta theta(if not consider the damping)? also you can call the POSITIO...

i change your code to use the POSITION_CONTROL mode with (5e-3)/240 us timestep which is bigger than what you used and it can work well as below. if you have to use the TORQUE_CONTROL mode based on some other consideration, Could you explain your function of TorVolThe(Theta,angularVelocity,Voltage)?...

hi Could you tell me the bullet version you used? i am testing this case with the attached code but get a different result.
my bullet version is 2.5.5.

Could you email these object files to me, shengjun89@163.com? thanks.

Could you attach all your body object? thanks.

in the second case, the robot collides with the ground which will impact the links and joints of the robot.

thanks for your sharing. why did you said "maximum of 0.01 for some joint"? i add the following to print the max delta, the value is about 0.006. how much tracking accuracy do you need? the accuracy is very high if don't care about the velocity. print("max value=", np.max(robotlo...

Could you provide a complete simple test? i can work with you to find the root cause.

hi tgreif,
sorry, it is hard for me to reproduce your issue. hope next time i can help you. good luck!