I'm trying to do quasi-static planar pushing by position controlling the pusher (brown) with p.createConstraint.
The issue I'm having is that the dynamics seem to be different with different yaw of the pusher-block system (keeping their relative positions the same). I'm investigating this by telling the pusher to push perpendicular to the adjacent face for a fixed position for different yaws of the whole system.
Control of the pusher is done by
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p.changeConstraint(self.pusherConstraint, newPos, maxForce=200)
The configuration of the system:
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block
dimensions: 0.15 x 0.15 x 0.05
mass: 6
lateral_friction 1.0
spinning_friction: 0.1
pusher
dimensions: 0.15 x 0.02
mass: 10
lateral_friction: 1.0
spinning_friction: 0.1
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tensor([0.0285, 0.2691, 0.2714, 0.2669])
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tensor([[ 0.0184, -0.0022, -0.0309, -0.0007],
[ 0.0181, -0.0028, -0.0378, -0.0008],
[ 0.0172, -0.0039, -0.0531, -0.0011],
[ 0.0183, -0.0023, -0.0307, -0.0006],
[ 0.0187, -0.0019, -0.0260, -0.0005],
[ 0.0184, -0.0023, -0.0304, -0.0006],
[ 0.0176, -0.0033, -0.0455, -0.0010],
[ 0.0176, -0.0034, -0.0462, -0.0010],
[ 0.0187, -0.0018, -0.0247, -0.0005],
[ 0.0184, -0.0022, -0.0301, -0.0006]])