## E-Puck turns when given 0 velocity

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greyWolf
Posts: 1
Joined: 16 Jun 2019, 02:00

### E-Puck turns when given 0 velocity

Hi

I am trying to control an E-Puck using an external python script. The problem is, that when I set the joint velocities to zero, it still turns on the spot.

In the joint properties, I have ticked the box that says lock the joints when velocity is zero and I have set the velocity to 0. I set the values of the joint velocities to 0 using these commands

Code: Select all

self.err_code = vrep.simxSetJointTargetVelocity(self.clientID,self.l_motor_handle,0,vrep.simx_opmode_streaming)
self.err_code = vrep.simxSetJointTargetVelocity(self.clientID,self.r_motor_handle,0,vrep.simx_opmode_streaming)
l_motor_handle and r_motor_handle are the handles for the respective motors.

Code: Select all

self.err_code, self.l_motor_handle = vrep.simxGetObjectHandle(self.clientID,self.robotId+"epuck_leftJoint", vrep.simx_opmode_blocking)
self.err_code, self.r_motor_handle = vrep.simxGetObjectHandle(self.clientID,self.robotId+"epuck_rightJoint", vrep.simx_opmode_blocking)


Is there something wrong with the parameters of the robot's joints? This is the behaviour even when I run the simulation without the external script. I tried to just set the velocities to zero using a Lua child script, but had the same problem. You can find screenshots with the settings for one of the joints. Its the same for the other joint.

What am I missing?

coppelia