Floating robot not stiff

Official Python bindings with a focus on reinforcement learning and robotics.
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aled96
Posts: 5
Joined: Fri Jan 28, 2022 2:24 pm

Floating robot not stiff

Post by aled96 »

Hi,
I have a legged robot loaded from URDF with useFixedBase set to 0. The problem is that the robot is collapsing on itself, without being stiff enough to stay vertical (considering that it is statically stable).

What this can be about ?

This is how I am loading the model:

Code: Select all

self.robot = pybullet.loadURDF("file.urdf",
                                init_pos,
                                useFixedBase=0,
                                flags=pybullet.URDF_USE_INERTIA_FROM_FILE)
Then I control it with `pybullet.setJointMotorControlArray` moving the joints to a target configuration.

Thank you for the help!
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