the black and red cylinders in some joints separate
the black and red cylinders in some joints separate
I built a six-degree of freedom robot arm model in the scene and set the angle range of each joint. After clicking the "Run" button, why did the black and red cylinders in some joints separate?
Re: the black and red cylinders in some joints separate
Hello,
what you describe are joints breaking apart: with most physics engines, joints are modelled as constraints. If some constraints cannot be solved properly, joints will come apart. This is not the case with the MuJoCo engine for instance (except where there are loop closures).
To remedy for joints breaking apart, you have several possibilities:
what you describe are joints breaking apart: with most physics engines, joints are modelled as constraints. If some constraints cannot be solved properly, joints will come apart. This is not the case with the MuJoCo engine for instance (except where there are loop closures).
To remedy for joints breaking apart, you have several possibilities:
- use e.g. the MuJoCo engine
- adjust your mass and inertias according to design considerations 7&8
- reduce the joint speed