setJointMotorControl2 won't assign correct force value to certain joints

Official Python bindings with a focus on reinforcement learning and robotics.
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sakura_hana
Posts: 4
Joined: Fri Jul 03, 2020 11:37 pm
Location: Victoria, BC, Canada

setJointMotorControl2 won't assign correct force value to certain joints

Post by sakura_hana »

Hello,

I am loading a quadruped model into the simulation environment using a URDF file. The model loads in correctly, however, when applying POSITION_CONTROL via setJointMotorControl2 to the robots lower leg joints, the joints are unable to maintain their position under the weight of the robot.

When applying POSITION_CONTROL to the upper leg and shoulder joints of the robot, they maintain their set position without issue. Its only the lower legs that can't maintain, even though I am applying a higher force to them then any other joint.

When reducing the simulation gravity to around -2 instead of -9.81, they lower leg joints are able to somewhat maintain the set position.

I am relitively new to pybullet, and this problem baffles me, so I would appreciate some help.

Here is my main code:

Code: Select all

import pybullet as p
import time
import pybullet_data

physicsClient = p.connect(p.GUI) # or p.DIRECT for non graphical version
p.setAdditionalSearchPath(pybullet_data.getDataPath()) #optionally
#p.setTimeStep(1.0)
planeID = p.loadURDF("plane.urdf")

p.resetDebugVisualizerCamera( cameraDistance=0.5, cameraYaw=75, cameraPitch=-20, cameraTargetPosition=[0.0, 0.0, 0.25])

baseStartPos = [0,0,0.5]
baseStartOrientation = p.getQuaternionFromEuler([1,0,0])
quadrupedID = p.loadURDF("MQ_SIM_ASEM/urdf/MQ_SIM_ASEM.urdf",baseStartPos, baseStartOrientation)

#p.changeDynamics(sphereUid,-1,spinningFriction=0.001, rollingFriction=0.001,linearDamping=0.0)
# Set Joints to home position
for joint in range (p.getNumJoints(quadrupedID)):
	p.setJointMotorControl2(quadrupedID,joint,p.POSITION_CONTROL,targetPosition=0.0,force=10,maxVelocity=5)
	
# Set Shoulder Joints	
joint = 0	
p.setJointMotorControl2(quadrupedID,joint,p.POSITION_CONTROL,targetPosition=-0.125,force=5,maxVelocity=5)

joint = 3	
p.setJointMotorControl2(quadrupedID,joint,p.POSITION_CONTROL,targetPosition=0.125,force=5,maxVelocity=5)

joint = 6	
p.setJointMotorControl2(quadrupedID,joint,p.POSITION_CONTROL,targetPosition=-0.125,force=5,maxVelocity=5)

joint = 9	
p.setJointMotorControl2(quadrupedID,joint,p.POSITION_CONTROL,targetPosition=0.125,force=5,maxVelocity=5)	

# Set Upper Joints	
joint = 1	
p.setJointMotorControl2(quadrupedID,joint,p.POSITION_CONTROL,targetPosition=-0.75,force=5,maxVelocity=5)

joint = 4	
p.setJointMotorControl2(quadrupedID,joint,p.POSITION_CONTROL,targetPosition=-0.75,force=5,maxVelocity=5)

joint = 7	
p.setJointMotorControl2(quadrupedID,joint,p.POSITION_CONTROL,targetPosition=-0.75,force=5,maxVelocity=5)

joint = 10	
p.setJointMotorControl2(quadrupedID,joint,p.POSITION_CONTROL,targetPosition=-0.75,force=5,maxVelocity=5)

# Set Lower Joints	
joint = 2	
p.setJointMotorControl2(quadrupedID,joint,p.POSITION_CONTROL,targetPosition=-0.2,force=1000,maxVelocity=5)

joint = 5	
p.setJointMotorControl2(quadrupedID,joint,p.POSITION_CONTROL,targetPosition=-0.2,force=1000,maxVelocity=5)

joint = 8	
p.setJointMotorControl2(quadrupedID,joint,p.POSITION_CONTROL,targetPosition=-0.2,force=1000,maxVelocity=5)

joint = 11	
p.setJointMotorControl2(quadrupedID,joint,p.POSITION_CONTROL,targetPosition=-0.2,force=1000,maxVelocity=5)

#Set Link Dynamics
joint = 2
p.changeDynamics(quadrupedID,joint,lateralFriction=0.1,spinningFriction=0.001, rollingFriction=0.001)

joint = 5
p.changeDynamics(quadrupedID,joint,lateralFriction=0.1,spinningFriction=0.001, rollingFriction=0.001)

joint = 8
p.changeDynamics(quadrupedID,joint,lateralFriction=0.1,spinningFriction=0.001, rollingFriction=0.001)

joint = 11
p.changeDynamics(quadrupedID,joint,lateralFriction=0.1,spinningFriction=0.001, rollingFriction=0.001)

p.getNumJoints(quadrupedID)
for i in range (p.getNumJoints(quadrupedID)):
	print(p.getJointInfo(quadrupedID,i))
	
p.setGravity(0,0,-9.81)
p.setRealTimeSimulation(1)

while (1):
	keys = p.getKeyboardEvents()
	#print(keys)
	basePos, baseOrn = p.getBasePositionAndOrientation(quadrupedID) # Get model position
	p.resetDebugVisualizerCamera( cameraDistance=0.35, cameraYaw=75, cameraPitch=-20, cameraTargetPosition=basePos) # fix camera onto model
	time.sleep(0.01)

basePos, baseOrn = p.getBasePositionAndOrientation(quadrupedID)
print(basePos, baseOrn)
p.disconnect()
and my urdf code:

Code: Select all

<robot
  name="MQ_SIM_ASEM">
  <link
    name="Chassis">
    <inertial>
      <origin
        xyz="-2.2751E-16 -0.0045599 -0.0045435"
        rpy="0 0 0" />
      <mass
        value="0.21254" />
      <inertia
        ixx="0.00050987"
        ixy="-1.19E-11"
        ixz="-1.8228E-18"
        iyy="0.00078799"
        iyz="1.2389E-06"
        izz="0.00031486" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://MQ_SIM_ASEM/meshes/Chassis.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.79216 0.81961 0.93333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://MQ_SIM_ASEM/meshes/Chassis.STL" />
      </geometry>
    </collision>
  </link>
  <link
    name="FL_S">
    <inertial>
      <origin
        xyz="-0.012475 -0.0045599 -0.059993"
        rpy="0 0 0" />
      <mass
        value="0.21254" />
      <inertia
        ixx="0.00050987"
        ixy="-1.19E-11"
        ixz="-1.8228E-18"
        iyy="0.00078799"
        iyz="1.2389E-06"
        izz="0.00031486" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://MQ_SIM_ASEM/meshes/FL_S.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.79216 0.81961 0.93333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://MQ_SIM_ASEM/meshes/FL_S.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="FL_S"
    type="revolute">
    <origin
      xyz="0.012475 0 0.05545"
      rpy="0 0 0" />
    <parent
      link="Chassis" />
    <child
      link="FL_S" />
    <axis
      xyz="0 0 1" />
    <limit
      effort="10"
      velocity="5" />
    <dynamics
      damping="0"
      friction="0" />
  </joint>
  <link
    name="FL_U">
    <inertial>
      <origin
        xyz="-0.048925 -0.00455991469585068 -0.0661434522412885"
        rpy="0 0 0" />
      <mass
        value="0.212537478238056" />
      <inertia
        ixx="0.000509871545281873"
        ixy="-1.18995042286199E-11"
        ixz="-1.82281490249125E-18"
        iyy="0.00078798977975645"
        iyz="1.23887315159603E-06"
        izz="0.000314862007654797" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://MQ_SIM_ASEM/meshes/FL_U.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://MQ_SIM_ASEM/meshes/FL_U.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="FL_U"
    type="revolute">
    <origin
      xyz="0.03645 0 0.00615"
      rpy="0 0 0" />
    <parent
      link="FL_S" />
    <child
      link="FL_U" />
    <axis
      xyz="1 0 0" />
    <limit
      effort="10"
      velocity="5" />
    <dynamics
      damping="0"
      friction="0" />
  </joint>
  <link
    name="FL_L">
    <inertial>
      <origin
        xyz="0 -0.0132084566072264 -0.000261600947614194"
        rpy="0 0 0" />
      <mass
        value="0.0010736396629226" />
      <inertia
        ixx="0.0001"
        ixy="0"
        ixz="0"
        iyy="0.0001"
        iyz="0"
        izz="0.0001" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://MQ_SIM_ASEM/meshes/FL_L.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://MQ_SIM_ASEM/meshes/FL_L.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="FL_L"
    type="revolute">
    <origin
      xyz="0.00185 0 -0.055"
      rpy="0 0 0" />
    <parent
      link="FL_U" />
    <child
      link="FL_L" />
    <axis
      xyz="1 0 0" />
    <limit
      effort="1000"
      velocity="5" />
    <dynamics
      damping="0"
      friction="0" />
  </joint>
  <link
    name="FR_S">
    <inertial>
      <origin
        xyz="0.0124749999999998 -0.00455991469584891 -0.0599934522412885"
        rpy="0 0 0" />
      <mass
        value="0.212537478238056" />
      <inertia
        ixx="0.000509871545281873"
        ixy="-1.18995042286199E-11"
        ixz="-1.83636742964732E-18"
        iyy="0.00078798977975645"
        iyz="1.23887315159603E-06"
        izz="0.000314862007654797" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://MQ_SIM_ASEM/meshes/FR_S.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://MQ_SIM_ASEM/meshes/FR_S.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="FR_S"
    type="revolute">
    <origin
      xyz="-0.012475 0 0.05545"
      rpy="0 0 0" />
    <parent
      link="Chassis" />
    <child
      link="FR_S" />
    <axis
      xyz="0 0 1" />
    <limit
      effort="10"
      velocity="5" />
    <dynamics
      damping="0"
      friction="0" />
  </joint>
  <link
    name="FR_U">
    <inertial>
      <origin
        xyz="0.0489249999999996 -0.00455991469584817 -0.0661434522412884"
        rpy="0 0 0" />
      <mass
        value="0.212537478238056" />
      <inertia
        ixx="0.000509871545281873"
        ixy="-1.18995042286199E-11"
        ixz="-1.82281490249125E-18"
        iyy="0.00078798977975645"
        iyz="1.23887315159603E-06"
        izz="0.000314862007654797" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://MQ_SIM_ASEM/meshes/FR_U.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://MQ_SIM_ASEM/meshes/FR_U.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="FR_U"
    type="revolute">
    <origin
      xyz="-0.03645 0 0.00615"
      rpy="0 0 0" />
    <parent
      link="FR_S" />
    <child
      link="FR_U" />
    <axis
      xyz="1 0 0" />
    <limit
      effort="10"
      velocity="5" />
    <dynamics
      damping="0"
      friction="0" />
  </joint>
  <link
    name="FR_L">
    <inertial>
      <origin
        xyz="6.93889390390723E-18 -0.0132084566072264 -0.000261600947614193"
        rpy="0 0 0" />
      <mass
        value="0.0010736396629226" />
      <inertia
        ixx="0.0001"
        ixy="0"
        ixz="0"
        iyy="0.0001"
        iyz="0"
        izz="0.0001" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://MQ_SIM_ASEM/meshes/FR_L.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://MQ_SIM_ASEM/meshes/FR_L.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="FR_L"
    type="revolute">
    <origin
      xyz="-0.00185 0 -0.055"
      rpy="0 0 0" />
    <parent
      link="FR_U" />
    <child
      link="FR_L" />
    <axis
      xyz="1 0 0" />
    <limit
      effort="1000"
      velocity="5" />
    <dynamics
      damping="0"
      friction="0" />
  </joint>
  <link
    name="BL_S">
    <inertial>
      <origin
        xyz="-0.0124749999999998 -0.00455991469584891 0.0509065477587115"
        rpy="0 0 0" />
      <mass
        value="0.212537478238056" />
      <inertia
        ixx="0.000509871545281873"
        ixy="-1.18995042294669E-11"
        ixz="-1.82959116606929E-18"
        iyy="0.00078798977975645"
        iyz="1.23887315159603E-06"
        izz="0.000314862007654797" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://MQ_SIM_ASEM/meshes/BL_S.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://MQ_SIM_ASEM/meshes/BL_S.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="BL_S"
    type="revolute">
    <origin
      xyz="0.012475 0 -0.05545"
      rpy="0 0 0" />
    <parent
      link="Chassis" />
    <child
      link="BL_S" />
    <axis
      xyz="0 0 1" />
    <limit
      effort="10"
      velocity="5" />
    <dynamics
      damping="0"
      friction="0" />
  </joint>
  <link
    name="BL_U">
    <inertial>
      <origin
        xyz="-0.0489249999999992 -0.00455991469584733 0.0570565477587112"
        rpy="0 0 0" />
      <mass
        value="0.212537478238056" />
      <inertia
        ixx="0.000509871545281873"
        ixy="-1.18995036212972E-11"
        ixz="-1.82281490249125E-18"
        iyy="0.00078798977975645"
        iyz="1.2388731515953E-06"
        izz="0.000314862007654797" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://MQ_SIM_ASEM/meshes/BL_U.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://MQ_SIM_ASEM/meshes/BL_U.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="BL_U"
    type="revolute">
    <origin
      xyz="0.03645 0 -0.00615"
      rpy="0 0 0" />
    <parent
      link="BL_S" />
    <child
      link="BL_U" />
    <axis
      xyz="1 0 0" />
    <limit
      effort="10"
      velocity="5" />
    <dynamics
      damping="0"
      friction="0" />
  </joint>
  <link
    name="BL_L">
    <inertial>
      <origin
        xyz="0 -0.0132084566072264 -0.00026160094761421"
        rpy="0 0 0" />
      <mass
        value="0.0010736396629226" />
      <inertia
        ixx="0.0001"
        ixy="0"
        ixz="0"
        iyy="0.0001"
        iyz="0"
        izz="0.0001" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://MQ_SIM_ASEM/meshes/BL_L.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://MQ_SIM_ASEM/meshes/BL_L.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="BL_L"
    type="revolute">
    <origin
      xyz="0.00185 0 -0.055"
      rpy="0 0 0" />
    <parent
      link="BL_U" />
    <child
      link="BL_L" />
    <axis
      xyz="1 0 0" />
    <limit
      effort="1000"
      velocity="5" />
    <dynamics
      damping="0"
      friction="0" />
  </joint>
  <link
    name="BR_S">
    <inertial>
      <origin
        xyz="0.0124750000000002 -0.00455991469584895 0.0509065477587112"
        rpy="0 0 0" />
      <mass
        value="0.212537478238056" />
      <inertia
        ixx="0.000509871545281873"
        ixy="-1.18995036212972E-11"
        ixz="-1.82281490249125E-18"
        iyy="0.00078798977975645"
        iyz="1.2388731515953E-06"
        izz="0.000314862007654797" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://MQ_SIM_ASEM/meshes/BR_S.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://MQ_SIM_ASEM/meshes/BR_S.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="BR_S"
    type="revolute">
    <origin
      xyz="-0.012475 0 -0.05545"
      rpy="0 0 0" />
    <parent
      link="Chassis" />
    <child
      link="BR_S" />
    <axis
      xyz="0 0 1" />
    <limit
      effort="10"
      velocity="5" />
    <dynamics
      damping="0"
      friction="0" />
  </joint>
  <link
    name="BR_U">
    <inertial>
      <origin
        xyz="0.0489250000000004 -0.00455991469584955 0.0570565477587115"
        rpy="0 0 0" />
      <mass
        value="0.212537478238056" />
      <inertia
        ixx="0.000509871545281873"
        ixy="-1.18995042226906E-11"
        ixz="-1.81603863891322E-18"
        iyy="0.00078798977975645"
        iyz="1.23887315159459E-06"
        izz="0.000314862007654797" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://MQ_SIM_ASEM/meshes/BR_U.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://MQ_SIM_ASEM/meshes/BR_U.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="BR_U"
    type="revolute">
    <origin
      xyz="-0.03645 0 -0.00615"
      rpy="0 0 0" />
    <parent
      link="BR_S" />
    <child
      link="BR_U" />
    <axis
      xyz="1 0 0" />
    <limit
      effort="10"
      velocity="5" />
    <dynamics
      damping="0"
      friction="0" />
  </joint>
  <link
    name="BR_L">
    <inertial>
      <origin
        xyz="6.93889390390723E-18 -0.0132084566072264 -0.00026160094761421"
        rpy="0 0 0" />
      <mass
        value="0.0010736396629226" />
      <inertia
        ixx="0.0001"
        ixy="0"
        ixz="0"
        iyy="0.0001"
        iyz="0"
        izz="0.0001" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://MQ_SIM_ASEM/meshes/BR_L.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://MQ_SIM_ASEM/meshes/BR_L.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="BR_L"
    type="revolute">
    <origin
      xyz="-0.00185 0 -0.055"
      rpy="0 0 0" />
    <parent
      link="BR_U" />
    <child
      link="BR_L" />
    <axis
      xyz="1 0 0" />
    <limit
      effort="1000"
      velocity="5" />
    <dynamics
      damping="0"
      friction="0" />
  </joint>
</robot>
Thanks.
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steven
Posts: 83
Joined: Mon Nov 05, 2018 8:16 am
Location: China

Re: setJointMotorControl2 won't assign correct force value to certain joints

Post by steven »

Can't reproduce your issue? Could you provide all the files? thanks.

cannot find 'MQ_SIM_ASEM/meshes/Chassis.STL' in any directory in urdf path
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sakura_hana
Posts: 4
Joined: Fri Jul 03, 2020 11:37 pm
Location: Victoria, BC, Canada

Re: setJointMotorControl2 won't assign correct force value to certain joints

Post by sakura_hana »

Here is a zip for the files.

Run on Python 3.6.8

Thanks.
Attachments
Quadruped PyBullet Files.zip
(191.3 KiB) Downloaded 485 times
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steven
Posts: 83
Joined: Mon Nov 05, 2018 8:16 am
Location: China

Re: setJointMotorControl2 won't assign correct force value to certain joints

Post by steven »

thanks for you reply.
this issue is caused by that the mass of the lower legs are too small, so far i don't know how to fix this. i just increase the mass to workaound this.
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sakura_hana
Posts: 4
Joined: Fri Jul 03, 2020 11:37 pm
Location: Victoria, BC, Canada

Re: setJointMotorControl2 won't assign correct force value to certain joints

Post by sakura_hana »

I see.

Thanks for the help.
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User avatar
Erwin Coumans
Site Admin
Posts: 4221
Joined: Sun Jun 26, 2005 6:43 pm
Location: California, USA
Contact:
Contact Erwin Coumans

Re: setJointMotorControl2 won't assign correct force value to certain joints

Post by Erwin Coumans »

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/bullet ... t/examples
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