Non-stable simulation for some models #2
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wpumacay
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Changes: * Added a mjcf model to reproduce an issue with non-stable simulation of some models, like humanoid, when using the bullet backend. Issue: * wpumacay/loco-bullet#2 Possible-cause: * An issue with more than two joints for a same body, as the minimal model provided here suggests. Some entries in part of the jacobian might be zero, as we are creating links with no mass for joints, in a similar way to how pybullet mjcf models are created.
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There are still some issues with some models, like humanoid. The non-stable simulation problems occur when some controls are applied to some specific joints, which makes the humanoid just fly away with huge velocities. For testing, run the test_agent_bt sample with the humanoid_symmetric.xml model (mjcf) and just swing back and forth the hip_y control (either right or left, both seem to give the same behavior).
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