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facebookresearch / habitat-sim

A flexible, high-performance 3D simulator for Embodied AI research.
https://aihabitat.org/
MIT License
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How do I get Aliengo to stand still #2185

Open onePnot1 opened 1 year ago

onePnot1 commented 1 year ago

Habitat-Sim version

v0.2.5

Habitat is under active development, and we advise users to restrict themselves to stable releases. Are you using the latest release version of Habitat-Sim? Your question may already be addressed in the latest version. We may also not be able to help with problems in earlier versions because they sometimes lack the more verbose logging needed for debugging.

Main branch contains 'bleeding edge' code and should be used at your own risk.

Docs and Tutorials

Did you read the docs? https://aihabitat.org/docs/habitat-sim/

Did you check out the tutorials? https://aihabitat.org/tutorial/2020/

Perhaps your question is answered there. If not, carry on!

❓ Questions and Help

I add an Aliengo as an articulated object from its urdf, and then I set the joints of its legs so that it can maintain a standing pose. However, it will fall down because of the gravity. I try to set its MotionType to habitat_sim.physics.MotionType.KINEMATIC, but it doesn't seem to work.

What should I do to get Aliengo to stand still?

Thanks a lot.

aclegg3 commented 1 year ago

Hey @onePnot1 The solution depends on what you want to do with the robot.

  1. Setting to KINEMATIC should remove robot physics and prevent it from moving all-together. Example: ao.motion_type = habitat_sim.physics.MotionType.KINEMATIC
  2. If you want the robot to dynamically maintain its own joint state, you could add joint motors and set the targets to the desired state. See this unit test for API examples.