How do I get Aliengo to stand still

[onePnot1]

Habitat-Sim version

v0.2.5

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❓ Questions and Help

I add an Aliengo as an articulated object from its urdf, and then I set the joints of its legs so that it can maintain a standing pose. However, it will fall down because of the gravity. I try to set its MotionType to habitat_sim.physics.MotionType.KINEMATIC, but it doesn't seem to work.

What should I do to get Aliengo to stand still?

Thanks a lot.

[aclegg3]

Hey @onePnot1 The solution depends on what you want to do with the robot.

1. Setting to KINEMATIC should remove robot physics and prevent it from moving all-together. Example: ao.motion_type = habitat_sim.physics.MotionType.KINEMATIC
2. If you want the robot to dynamically maintain its own joint state, you could add joint motors and set the targets to the desired state. See this unit test for API examples.