targetVelocity to do a greater linear velocity [pybullet]

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DimonK
Posts: 4
Joined: Tue Jul 18, 2017 4:38 pm

targetVelocity to do a greater linear velocity [pybullet]

Post by DimonK » Tue Jul 18, 2017 5:02 pm

Hello, I'm new in the bullet, I use pybullet and I want to make a car.
I use the standard URDF-model for modeling car:
https://github.com/bulletphysics/bullet ... cecar.urdf

I want my car to go, for example, at a speed of 20 in the direction straight.
I can deliver

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p.resetBaseVelocity(car, [20, 0, 0])
And everything will work,

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linearVelocity, angularVelocity = p.getBaseVelocity (car)
print(linearVelocity)
will output (20,0,0). But, of course, I want to achieve this effect with the help of wheels, using setJointMotorControl2, VELOCITY_CONTROL and targetVelocity. I saw an example of https://github.com/bulletphysics/bullet ... racecar.py

And I tried it to run this machine on an infinite plane as in the example. But the maximum that I managed to achieve is about (5, 0, 0) or (2, 0, 0), but I want linearVelocity (20, 0, 0). I tried to change
    

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<Limit effort = "10" velocity = "100" />
At very high values ​​and give the target Velocity very large but no effect.
 How can I change the urdf model or give, please, an example, a simple example of a model that can travel at high speeds.


I can of course do it artificially

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 linearVelocity[0] = linearVelocity[0] * 2
 linearVelocity[1] = linearVelocity[1] * 2
 linearVelocity[2] = linearVelocity[2] * 2
 p.resetBaseVelocity (my_car, linearVelocity)
But it's not beautiful. please, help.

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