How can I reduce URDF robot boucing?

Hello,

I try to import an omni-wheel robot from URDF.
I can import it, but the robot bounces many times.
How can I reduce the robot bouncing?
movie-2024-02-17_17.34.55

Below is the import config to import URDF.

    status, import_config = omni.kit.commands.execute("URDFCreateImportConfig")
    import_config.merge_fixed_joints = False
    import_config.convex_decomp = True
    import_config.import_inertia_tensor = True
    import_config.self_collision = False
    import_config.fix_base = fixed
    import_config.default_drive_strength = 100000.0
    import_config.default_position_drive_damping = 100000.0
    import_config.distance_scale = 1

You can test it with the repository below.

Thanks

I solved this problem to refer to Wheeled robot incorrect behavior.
I have to set solver PGS and Time Steps Per Second 600.

1 Like

Hello, can you see where you set it up? I didn’t see the place to set PGS and Time Steps Per Second in 2023.1.1.Thank you very much.@hijimasa

@1365351984
I think you can see in PhysicsScene setting.

Or you can set up by following python script.

    # Get stage handle
    stage_handle = omni.usd.get_context().get_stage()

    # Enable physics
    scene = UsdPhysics.Scene.Define(stage_handle, Sdf.Path("/physicsScene"))
    # Set gravity
    scene.CreateGravityDirectionAttr().Set(Gf.Vec3f(0.0, 0.0, -1.0))
    scene.CreateGravityMagnitudeAttr().Set(9.81)
    # Set solver settings
    PhysxSchema.PhysxSceneAPI.Apply(stage_handle.GetPrimAtPath("/physicsScene"))
    physxSceneAPI = PhysxSchema.PhysxSceneAPI.Get(stage_handle, "/physicsScene")
    physxSceneAPI.CreateEnableCCDAttr(True)
    physxSceneAPI.CreateEnableStabilizationAttr(True)
    physxSceneAPI.CreateEnableGPUDynamicsAttr(False)
    physxSceneAPI.CreateBroadphaseTypeAttr("MBP")
    # Refer to https://forums.developer.nvidia.com/t/wheeled-robot-incorrect-behavior/245133
    #physxSceneAPI.CreateSolverTypeAttr("TGS")
    physxSceneAPI.CreateSolverTypeAttr("PGS")
    physxSceneAPI.CreateTimeStepsPerSecondAttr(600)

Oh!Yes,I find it.Thank you very much.

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