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raisimTech / raisimLib

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Stuck wheel in rolling motion #426

Closed ghost closed 1 year ago

ghost commented 1 year ago

Hi,

I am working on a two wheeled robot, and observed a strange thing in 1.1.6 (compiled from master branch). Detail: As the robot moving forward, one wheel is like "stuck in the ground". As you can see in the attached videos, the velocity of the wheel suddenly decreases to zero. The controller was previously tested in raisim 1.1.2. video: https://drive.google.com/file/d/1qclGKLv3lSRJ-d3Rbtsal5FfLAJMsEj5/view?usp=sharing https://drive.google.com/file/d/1k7mmdU3WboN3B44TRTFzXpJOebKVz_dF/view?usp=share_link

jhwangbo commented 1 year ago

Do you have a joint limit set? It stops at 5 rad.

ghost commented 1 year ago

Do you have a joint limit set? It stops at 5 rad.

Yes, I find it in the urdf. I remember that the older version of raisim considers only the velocity limits. It is great that now position limit is included. I will close this issue now, thank you.