How do i setup Motors correctly?

[B4mbus]

Hey there!

I have some problems mit Bullit Physics i guess and i cant figure out whats the problem about it. Newton seems to work just fine but i dont know if i could use that later on for movment simulation.

All joints "Gelenk_X_2" are not able to rotate in Bullet. I made a short Video you can check here:

https://streamable.com/3q9y4

I tried alot of things even if i push the maximum torque to something really high it dosent move.

It looks like the joint are not stiff enough



I hope you can help me somehow because its for my bachelor thesis.

Thanks!

Edit: Bullet 2.78 does not work either

[coppelia]

Hello,

my best guess is that you are not respecting design considerations 7 from this page.

Cheers

[B4mbus]

Hmm, the masses of the objetcts are set as they are in the real world.
After the URDF Import they were a little bit off but i changed it manually to the right values.

They are indeed not simular to each other, but how else could i get a realistic simulation?

Gehaeuse_respondable = 11.1kg
Gelenk_(1-7)_1_respondable = 2.1kg
Gelenk_(1-7)_2_respondable = 0.470kg
Gelenk_(1-7)_3_respondable = 1.14kg

[coppelia]

your best option would be to use the Vortex or Newton engine for your simulation. The other engines require tweaking of the masses for a satisfying simulation... for that reason Bullet and ODE are often also called game engines.

Cheers