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考虑动力学就选动力学模式吧，用户手册里有关节模式的详细说明

I want to simulate the dynamic characteristics of an underactuated system, so I prepared a txt file and called "sim.setJointTargetVelocity" https://i.postimg.cc/XYRCgdG3/76bd763e4dc2f720026e4f55c01313c.png As shown in the figure, sub-figures 1~4, 6 ,7 match joints 1 ~ 4, 6 and 7, they are ...

The problem has been solved. I use the "SetObjectOrientation" function at every step.

Thank you very much! I will try your method.

There is a serial 7-DOF space manipulator, which is in the zero-gravity environment. How can I keep the base orientation constant and the base position follow the law of conservation of linear momentum? Remark: 1. When joints move according to the instructions I give, obviously the base position wil...