problem with revolute joint behaviour

[ahmad]

hello!
i'm trying to simulate a humanoid legs using v-rep , but have a problem :
when i use (sim.setJointTargetPosition) command to set the ankle joint of the (supporting leg) to a certain angle; i expect it to rotate the upper part in order to lift the other leg
but what happens is that , it rotates the (flat foot) part instead (like the image below)
https://drive.google.com/open?id=15f28_ ... D5nNN2lYas


i tried to use negative and positive values for joint angle but it was useless.

here is the image of the desired response : https://drive.google.com/open?id=1bb3W8 ... n5Mjx8mieM


all joints are in force/ torque mode.
can anyone help ?

[coppelia]

Hello,

not exactly sure, but if I understood you correctly, you are expecting the foot to stay in place and the hips to move. This can only happen if you center of mass is located above your foot. So before rotating the ankle, shift the center of mass above that ankle (this requires moving several joints at the same time).

Cheers