Cause for a model to break

Hi,

I'm running in a issue that I don't fully understand. I developed at ackermann steering model and I have unexpected behavior when using the functions setForce or setVelocity on the wheel joints. When I use setVelocity or setForce with a force larger then 1000 the model briefly start moving then breaks apart, jumps around for a few sec, then resetswith all the links overlapping at the origine.

Asked by AlexandreB on 2016-11-26 10:42:32 UTC

Comments

1000 N*m ? Is this really necessary?

Asked by eugene-katsevman on 2017-04-11 10:04:39 UTC

Answers

This bug usually happens when you're trying to apply really large forces to your model and you get NaN and INF values.

I assume you're using the model's built-in PID controller? Try tuning that so you don't end up with really large numbers...

Asked by chapulina on 2016-11-28 11:34:00 UTC

Comments

In fact, I am still testing my model so I just apply a constant torque. With the information you profided, my current guess is that the torque applied on both wheel may induce force and torque in the steering joints.

Asked by AlexandreB on 2016-11-28 12:52:15 UTC