Simulating indirect drives

Official Python bindings with a focus on reinforcement learning and robotics.
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robotguy
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Joined: Mon Feb 18, 2019 1:05 pm

Simulating indirect drives

Post by robotguy » Mon Mar 04, 2019 3:06 pm

Hi,
I am fairly new to PyBullet and have a question regarding actuator modelling: Currently, I am modelling a robot that uses drives equipped with high ratio gears (>100). I want to model the effects of the motor inertia sitting behind the gear. The motor should be operated in torque-control mode. Is there any option besides using a gear constraint? The problem here is that the motor inertia would rotate with a very high velocity of >100 rad/s (Does the python binding even expose an option to increase the maximum angular velocity ?) which could potentially create instabilities.

Thank you in advance.
Best regards.

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Erwin Coumans
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Re: Simulating indirect drives

Post by Erwin Coumans » Sat Mar 09, 2019 1:21 am

We currently don't have an API to exceed the maximum RPM of 100, but we probably should add it.

There is an old issue here, I should implement it:
https://github.com/bulletphysics/bullet3/issues/1890

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