Closed ClemensSchwarke closed 1 year ago
Hi Clemens,
The Euler integrator needs a finer time resolution to remain stable. So you can try a higher number of sim_substeps
here (e.g. 16 worked for me):
https://github.com/NVIDIA/warp/blob/main/examples/example_sim_quadruped.py#L35
Thanks a lot for the quick and helpful response Eric! And sorry for missing the obvious.
Cheers, Clemens
Hi,
I am trying to run the quadruped example using the provided
SemiImplicitIntegrator
but the simulation is highly unstable. I tried to tune the stiffness parameters but with no success. In my understanding, this behavior is mainly caused by the constraint forces between joints. Is there anything I might be overlooking?Thanks in advance!