Closed dennisushi closed 3 years ago
I have a mecanum wheel vehicle model where I modeled all the satelite wheels. It can somewhat generate the parallel moving behavior of omni wheels, but there is still strange behavior in the simulations. Refer to issue #2851
Moreover, this strange behavior not only shows in my mecanum robot, but also for common 4-wheel robot. So I cannot tell if the parallel moving behavior in the simulator is correct or not.
For anyone searching for this in the future, the best workaround I could find is to just move the base with resetBasePositionAndOrientation() for the simulation and then let a ROS controller determine the actual wheel actuation based on the state of the base centre if needed.
There is a suggestion by Steve here, did you try it? https://github.com/bulletphysics/bullet3/issues/2851
For anyone searching for this in the future, the best workaround I could find is to just move the base with resetBasePositionAndOrientation() for the simulation and then let a ROS controller determine the actual wheel actuation based on the state of the base centre if needed.
Hi, do you find a good way to control Omni-wheels robots? It seems that it is difficult to control a Mecanum robot in Pybullet because the complex frictions...
we implemented support for Mecanum wheels in gz-sim with the dartsim plugin using the following changes:
I recently imported (through URDF) a robot that has a Robotnik base composed of four omnidirectional/ Swedish/ Mecanum wheels. PyBullet regards these as Revolute and does not allow for the proper lateral movement. Are there any plans for adding support for omni-wheels? Is there any possible workaround this?