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Cause for a model to break

asked 2016-11-26 09:42:32 -0500

AlexandreB gravatar image


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.

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1000 N*m ? Is this really necessary?

eugene-katsevman gravatar imageeugene-katsevman ( 2017-04-11 10:04:39 -0500 )edit

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answered 2016-11-28 10:34:00 -0500

chapulina gravatar image

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...

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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.

AlexandreB gravatar imageAlexandreB ( 2016-11-28 11:52:15 -0500 )edit

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Asked: 2016-11-26 09:42:32 -0500

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Last updated: Nov 28 '16