Simulating indirect drives

Official Python bindings with a focus on reinforcement learning and robotics.
Post Reply
Posts: 2
Joined: Mon Feb 18, 2019 1:05 pm

Simulating indirect drives

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

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.

User avatar
Erwin Coumans
Site Admin
Posts: 4189
Joined: Sun Jun 26, 2005 6:43 pm
Location: California, USA

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:

Post Reply