Why manipulator of youbot is slowly go down?

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Moon
Posts: 3
Joined: 10 Aug 2017, 05:56

Why manipulator of youbot is slowly go down?

Post by Moon » 16 Aug 2017, 13:40

When script of youbot is empty, manipulator of youbot is go down.
I need to solve this problem but I don't know why.
I want to fix the position of youbot.

How to fix the position of youbot during the script empty.
Or how to fix the position of youbot with threaded child script.
Thank you

coppelia
Site Admin
Posts: 7190
Joined: 14 Dec 2012, 00:25

Re: Why manipulator of youbot is slowly go down?

Post by coppelia » 22 Aug 2017, 07:46

Hello,

the reason is directly linked with the physics engine you use: try running with Vortex or Newton, and you won't see that effect, or only minimalistic.
Also, the real reason behind this is because your joints operate in hybrid inverse kinematics mode. What happens in that mode is following: the IK will compute target joint values, that will then be applied to the physics engine as positions to reach. If there is no IK feeding new joint angles, then the physics engine will slowly drift.
Another solution would be to continue computing the IK implicitely, by toggling the explicit handling off for the two IK groups. Or of course, if you do not need IK, then switch the joint mode for all joints to force/torque, and enable position control.

Cheers

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