Very small simulation time step for successful walking!!! [closed]

asked 2017-05-14 02:54:59 -0600

Masoud gravatar image

Dear ROS community

I need to simulate and control a simple 3D biped robot using gazebo and ros. Currently I have developed the package (named mhr) which containts urdf model of the robot, low level controllers and stable offline saved trajectory for each actuated dof's of robot's walking on flat ground. Please consider that the trajectory is stable right now based on ZMP criteria.The problem is, I have to choose very small time step (dT = 0.00005 sec) to achieve successful walking in simulation which cause real time factor to be very smaller than 1. I am not sure about choosing proper solver between ODE, bullet, and Simbody as well as adjusting other related parameters of solver (e.g cfm, erp, etc). My parameters of ode solver are as follow:

   <physics type='ode'>
      <max_step_size>0.0001</max_step_size>
      <real_time_factor>1</real_time_factor>
      <real_time_update_rate>10000</real_time_update_rate>
      <gravity>0 0 -9.8</gravity>
      <ode>
        <solver>
          <type>quick</type>
          <iters>200</iters>
          <sor>1.0</sor>
        </solver>
        <constraints>
          <erp>0.2</erp>
          <cfm>0</cfm>

        </constraints>
      </ode>
  </physics>

Complete package is accessible through: link text which should be extract in your "catkin_ws".

I would be grateful if anybody could help me to increase simulation time step and improve my simulation.

Best Regards, Masoud

edit retag flag offensive reopen merge delete

Closed for the following reason Gazebo Question: The Gazebo community prefers to answer questions at: http://answers.gazebosim.org by gvdhoorn
close date 2017-05-14 07:56:18.902057

Comments

I'm afraid I'll have to ask you to post this question over at the Gazebo support forum. You may want to -- in the end -- control your simulation using ROS, but for now this question is completely Gazebo-focused. You'll have a much higher chance of good answer on that forum.

gvdhoorn gravatar imagegvdhoorn ( 2017-05-14 08:01:47 -0600 )edit