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Simulate a climb robot on a steel bridge using magnetic force

Posted: Tue Jun 01, 2021 4:41 am
by hainh22
Is it possible to simulate the above thing using PyBullet? My robot is a robot with 2 wheels (like in the figure) that stick to the surface of a bridge using magnets. My idea is to add two custom forces on the two wheels but how to adjust/calculate the direction of the forces to be perpendicular to the bridge surface to simulate the magnetic forces?

Thanks!

Re: Simulate a climb robot on a steel bridge using magnetic force

Posted: Tue Jun 08, 2021 10:00 am
by maiklof
I have played a bit with negative forces to simulate magnets and it can work pretty well if you adjust the forces and masses properly.
I would suggest you to use a customMaterialCallback to apply forces using the contact normals, by I wonder if it is possible to implement customMaterialCallbacks in python. Myself I do it in C++.
Another option, but I don't know if it may work for you, is to get the rotation of the robot and apply the forces according to that instead. It won├Ąt be that accurate, but it may work if there are no big obstacles.