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apply motor/motion to link

Posted: Sat Feb 20, 2021 9:25 am
by chrischii

I have a model consisting of several links (urdf import). The urdf is imported several times. In my simulation, I want to move the loose ends of each model to a common starting point and then move all models simultaneously.

since I have to joints for applying a motion and I did not manage to apply a motion to a constraint, I tried to connect each loose end to a dummy body (that I wanted to remove after reaching the end point).

From multi body simulations, I know the way of describing motions directly via markers, not only on joints. Is there a similar way in pybullet?

my model has two mathematical possible solutions for each position, so i want to define the path that the model shall use