calculateInverseDynamics is not working correctly on floating base humanoid

Official Python bindings with a focus on reinforcement learning and robotics.
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soshi
Posts: 2
Joined: Sun Oct 27, 2019 4:22 pm

calculateInverseDynamics is not working correctly on floating base humanoid

Post by soshi » Tue Dec 03, 2019 4:47 pm

Hello.
I'm trying to use pybullet.calculateInverseDynamics function on my floating base humanoid.
It was showing error:

Code: Select all

pybullet.error: Error in calculateInverseDynamics, please check arguments.
Then I found an example code of the function in pdControllerStable.py. Following the code, I provided "flags=1" as an argument of calculateInverseDynamics function. Then, it stops showing error, but all the returned value is always 0.
So my question is,
1) What does "flags" mean in calculateInverseDynamics function?
2) Is there any way to use calculateInverseDynamics for a floating base robot considering the floor force?

Thanks in advance!

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