Real-Time Physics Simulation Forum

It hasn't been added yet, it can be done. Perhaps file an issue request on github.

The position is achieved taken all constraints into account, including the maximum force and joint limits, contact, friction etc.

There is a maxVelocity argument to clamp the maximum velocity. Alternatively, keep the max force low.
You can also use classical PD control.

Finally, it took 11 years but it was worth waiting: a new paper by Theodore Kim addresses the problem, and one of the references points to this forum thread. See http://www.tkim.graphics/FEMBW or https://twitter.com/_TheodoreKim/status ... 0997393409

This forum is for PyBullet not panda.bullet

You can use maximal coordinates for the rope, it is likely more stable. (loadURDF(..., useMaximalCoordinates=True)
Or use deformable bodies, see https://github.com/bulletphysics/bullet ... _anchor.py

It is unfortunately not possible.

Try using https://github.com/bulletphysics/bullet3/tree/master/Extras/Serialize/ReadBulletSample or alternatively, save the joints using another mechanism, for example save manually or using startStateLogging, for example using STATE_LOGGING_MINITAUR (see the PyBullet Quickstart Guide) There are Pyt...

I implemented it now: See https://github.com/bulletphysics/bullet3/pull/2919

PyBullet ships with HopperBulletEnv-v0, and other environments as listed here:

https://github.com/bulletphysics/bullet ... _init__.py

This forum is for PyBullet, if you want MuJoCo or Benelot's environments, try visiting another forum.

This is currently not exposed/supported.
See https://github.com/bulletphysics/bullet3/issues/2810 for progress/updates.

Don't enable 'realtime' simulation, but stepSimulation instead, when applying forces like this. Also, best to keep using a small time step (1./240. is default), not 1 second. Watch the various examples/gym environments, for example https://github.com/bulletphysics/bullet3/tree/master/examples/pybull...

We don't support those envs. Please try using the envs included with pybullet_envs (after pip install pybullet --upgrade --user) HalfCheetahBulletEnv-v0 etc. Here is a list: https://github.com/pat-coady/trpo HumanoidDeepMimicBulletEnv-v1 CartPoleBulletEnv-v1 MinitaurBulletEnv-v0 MinitaurBulletDuckEn...

Ah, I disabled the velocity/position motors by setting the force to zero. You can certainly leave the motors enabled, with a force of your choice to model joint friction or other effects such as springyness. I was assuming metric units (meter, seconds etc). If you are using different units, you need...

Thanks Avik, I had a look and found a few issues. One of them is in the applyExternalForce imlpementation, I fixed this now. https://github.com/bulletphysics/bullet3/pull/2870/commits/ebef331bbffb4631259648f5858a3a396dd3718a (it was a copy/paste bug, we never used applyExternalForce, since we always...

It appears as if you are driving a strong motor against a joint limit, this won't work properly so try to avoid doing that.