Problem with Robot Responding to Floor and Dynamic Settings

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Luis Nieto
Posts: 49
Joined: 26 Oct 2021, 01:35

Problem with Robot Responding to Floor and Dynamic Settings

Post by Luis Nieto »

Hello, good day I have a problem again with my IK-mode Poppy robot model which is being used for my academic thesis. I have been
testing out joint trajectories for the robot while the parts have dynamic mode disabled, and they work properly.
The problem I have with this set up, as can be seen in the first image link is that the foot does not seem to recognize
the floor being there. It goes through. I would like this robot to eventually walk across the scene floor so it needs to
recognize the floor.

I noticed the ASTI model which is one where all the body parts connected to IK-mode joints (i.e. the leg parts) are
dynamic and ASTI walks on the floor, I figured it would work with my model too, but for a reason I can't identify, the
parts seem to violently tear apart.

I would like any helpful advice so that I could have this robot walk normally across the floor without the joints
tearing apart.

Thanks to any who helps us in advanced.

Image Links:
"Body is Dynamic" disabled:
https://drive.google.com/file/d/18qKrIJ ... sp=sharing
"Body is Dynamic" enabled:
https://drive.google.com/file/d/1tRq4Ui ... sp=sharing

coppelia
Site Admin
Posts: 10339
Joined: 14 Dec 2012, 00:25

Re: Problem with Robot Responding to Floor and Dynamic Settings

Post by coppelia »

Hello,

if the objects "violently come apart", then it is very probably that you have internal collisions generating constraints. Make sure that your local respondable masks are correctly set in this dialog. Also, make sure to carefully read and understand this page, otherwise you might run into many other problems.

Cheers

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