How to Handle Floating Base Issues in Mujoco with a Robotic Arm?
Posted: 17 Apr 2024, 09:38
Helloļ¼
I am creating a scene with a crawling robotic arm. In this scene, there is a state where the robotic arm doesn't have a base. In this configuration, the robotic arm relies on a dummy attached to an end effector link and another dummy on an object without dynamics for connection. The joints of the robotic arm are set to position control mode in Dynamic Mode.
Everything works fine in the Bullet engine, but in the Mujoco engine, as long as the robotic arm doesn't have a base, it tends to enter an unstable state, with all joints starting to move erratically. How can this situation be handled? I have created a scene to demonstrate this issue:
For the first robotic arm, the base is connected to a cube through a dummy. After simulation, dragging the cube with the mouse stabilizes the robotic arm better as the mass of the cube increases.
For the second robotic arm, the end effector link is connected to a cube through a dummy. After simulation, the robotic arm tends to jerk or twitch.
https://1drv.ms/u/s!Ar1_NNuNx1urnExoOKx ... f?e=niBmUe
I am creating a scene with a crawling robotic arm. In this scene, there is a state where the robotic arm doesn't have a base. In this configuration, the robotic arm relies on a dummy attached to an end effector link and another dummy on an object without dynamics for connection. The joints of the robotic arm are set to position control mode in Dynamic Mode.
Everything works fine in the Bullet engine, but in the Mujoco engine, as long as the robotic arm doesn't have a base, it tends to enter an unstable state, with all joints starting to move erratically. How can this situation be handled? I have created a scene to demonstrate this issue:
For the first robotic arm, the base is connected to a cube through a dummy. After simulation, dragging the cube with the mouse stabilizes the robotic arm better as the mass of the cube increases.
For the second robotic arm, the end effector link is connected to a cube through a dummy. After simulation, the robotic arm tends to jerk or twitch.
https://1drv.ms/u/s!Ar1_NNuNx1urnExoOKx ... f?e=niBmUe