Simulating indirect drives

[robotguy]

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.

[Erwin Coumans]

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