V-REP教程（十二) 关节力矩控制和物理引擎属性

关节力矩控制

vrep中在达到目标速度之前，输出力矩等于设定的最大力矩

简单写法

python 简洁写法

    def setJointTorque(joint_handle,torque):
            self.obj_set_force(joint_handle, torque)
            self.obj_set_velocity(joint_handle, self.joints_max_velocity * np.clip(torque, -1, +1))

物理引擎属性

全局修改和对特定物体的修改

全局的参数不建议修改
要注意的几个参数
1.Friction 明确说了能产生碰撞的物体之间才有摩擦力
2.Restution 恢复系数
3.Linear damping: 线性阻尼:线性运动阻尼值，增加线性阻力，增加稳定性。
4.Angular damping 角度阻尼
5.Sticky contact (only Bullet V2.78): when this item is checked, then contact points will be very strong, but might lead to instabilities. It is recommended to keep this disabled. This feature is not needed for Bullet versions after V2.78
粘性
6.Auto-shrink convex mesh和Custom collision margin factor不用管，默认就好

ODE
重要的只有线性阻尼和角度阻尼

Vortex
功能多了一些
1.Adhesive force: generates glue at the contact. 能让两个物体产生粘性

Newton
1.Linear drag: a linear drag value, which can improve stability.
2.Angular drag: an angular drag value, which can improve stability

joint 参数

Normal CFM: a constraint force mixing parameter used when away from limits.
Stop CFM: a constraint force mixing parameter at the limits.
超出限位时的阻力

最重要的是Vortex
Joint axis friction关节轴摩擦:允许定义沿着或围绕约束轴的内摩擦。
和拉力成比例Proportional: if true, friction is proportional to the tension in the constraint.
摩擦系数Coefficient: for proportional friction force, the friction is proportional to the tension * coefficient.