I want to make some joints act passive.
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Hi @user126650
I think you can define passive joints by setting the DOF drive mode to DOF_MODE_NONE and the stiffness and damping to 0… as shown in the Isaac Gym docs
The BallBalance task is a good example of it…
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bbot_handle = self.gym.create_actor(env_ptr, bbot_asset, bbot_pose, "bbot", i, 0, 0)
actuated_dofs = np.array([1, 3, 5])
free_dofs = np.array([0, 2, 4])
dof_props = self.gym.get_actor_dof_properties(env_ptr, bbot_handle)
dof_props['driveMode'][actuated_dofs] = gymapi.DOF_MODE_POS
dof_props['stiffness'][actuated_dofs] = 4000.0
dof_props['damping'][actuated_dofs] = 100.0
dof_props['driveMode'][free_dofs] = gymapi.DOF_MODE_NONE
dof_props['stiffness'][free_dofs] = 0
dof_props['damping'][free_dofs] = 0
self.gym.set_actor_dof_properties(env_ptr, bbot_handle, dof_props)
lower_leg_handles = []
lower_leg_handles.append(self.gym.find_actor_rigid_body_handle(env_ptr, bbot_handle, "lower_leg0"))
lower_leg_handles.append(self.gym.find_actor_rigid_body_handle(env_ptr, bbot_handle, "lower_leg1"))
lower_leg_handles.append(self.gym.find_actor_rigid_body_handle(env_ptr, bbot_handle, "lower_leg2"))
# create attractors to hold the feet in place
Thanks!!
system
May 15, 2022, 2:10pm
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