krishauser

krishauser ·

Ah, no there is no other way to do so at the moment.

Looking into your original error, the problem is the mass = 0 link (specifically, links 0 and 1). Try setting them to some small positive value in the .rob file.

Yes, you can change the self.dt value in GLSimulationPlugin to some other simulation time step. By default it is 0.02s per refresh.

I did look into this more carefully, and it does look like there will be problems keeping the constraint using the embedded + closed loop constraints because of various reasons (the configuration sampler in the ambient space allows the other joints to ...

This is fairly safe to do... if you know what you’re doing. The simulation visualization might be messed up, somewhat, and the state saving and logging routines will definitely not work properly. But if you’re just simulating forward this should work just ...

Hi Yuan, we figured this out in person. Specifically the ik.fixed_rotation function uses the robots current configuration, which changes after you’ve solved for the goal configuration. Can you post the solution?