URDF

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baojw
Posts: 13
Joined: 08 Sep 2023, 03:05

URDF

Post by baojw »

Hello,

I encountered an issue while importing a URDF file. My humanoid robot's ankle joint has two degrees of freedom, with two perpendicular intersecting rotation axes. When I import this model into V-REP 4.5, the joint model jitters, and the end effector has an offset, as if the two axes are repelling each other. However, the same URDF file imported into V-REP 4.1 does not exhibit this problem. What could be causing this issue?

coppelia
Site Admin
Posts: 10505
Joined: 14 Dec 2012, 00:25

Re: URDF

Post by coppelia »

Hello,

what you describe is indeed as if two objects are repelling each other during simulation, i.e. two overlapping, dynamic and respondable shapes are generating collision responses.

When importing from URDF, there are several options that can be set/unset. Try playing with those (e.g. Alternate local respondable masks). If you can't get it right, then manually adjust the incriminating shape's local respondable masks.

Also, make sure to use an up-to-date CoppeliaSim version.

Cheers

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