pyode - Can friction be added to a joint in a PyBrain ODE simulation? -

This is my first time asking the question, so I will try my best to include all the necessary information.

I am currently working on a project learning machine using PyBrain. My goal is for an induced pendulum, to know when force should be applied to maximize the dimension of confession.

To do this, I used the xodetools.py script in the ODE (Open Dynamics Engine) system that is included with PEBRAN. While the model works and is simulated, I can not find to add friction to the pendulum hinge joint.

The PyBrain (for example, johnnie_pgpe ) redefines a parameter named FricMu in their working class I have included it in my code , But it does not matter which value I set the value to FricMu is unchanged (Note: if I make it string then simulation still runs It seems that this parameter is actually not doing anything).

A quick look at the ODE documentation () notifies me that I need to use contact joint. This type of joint is not supported by the script, so I think that I write the XML file directly. Will happen.

Can anyone give advice with the understanding of PyBrain or ODE thanks to the damping of my system.

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Below is the XML code for the pendulum that is imported by the PEBRN

  & lt ;? Xml version = "1.0" encoding = "UTF-8" & gt; & Lt; Xode version = "1.0523" name = "pend" xmlns: xsi = "http://www.w3.org/2001/XMLSchema-instance" xsi: a namespace location = "http://tanksoftware.com/xode/ 1.0 R23 / xode.xsd "& gt; & Lt; World & gt; & Lt; Space & gt; & Lt; Body name = "arm" & gt; & Lt; Change & gt; & Lt; Position Y = "0" x = "0" z = "0" /> & Lt; / Change & gt; & Lt; Mass & gt; & Lt; Mass_shape density = "125.0" & gt; & Lt; Box size x = "0.2" size = "0.2" sizey = "0.2" /> & lt; / Mass_shape & gt; & Lt; / Jan & gt; & Lt; Geom & gt; & Lt; Box size x = "0.2" size = "0.2" sizey = "0.2" /> & lt; / Geom & gt; & Lt; / Body & gt; & Lt; Body name = "swing" & gt; & Lt; Change & gt; & Lt; Position Y = "0" x = "0" z = "2.2" /> & Lt; Rotation & gt; & Lt; Euler y = "0" x = "0", "degree" z = "0" /> & Lt; / Rotation & gt; & Lt; / Change & gt; & Lt; Mass & gt; & Lt; Mass_shape density = "6.36619772588" & gt; & Lt; Cylinder length = "5" radius = "0.05" /> & Lt; / Mass_shape & gt; & Lt; / Jan & gt; & Lt; Geom & gt; & Lt; Cylinder length = "5" radius = "0.05" /> & Lt; / Geom & gt; & Lt; / Body & gt; & Lt; Joint name = "arm_swing" & gt; & Lt; Link1 body = "arm" /> & Lt; Link2 body = "swing" /> & Lt; Hinge & gt; & Lt; Axis y = "0" x = "1" z = "0" /> & Lt; Anchor y = "0" x = "0" z = "0" full = "true" /> & Lt; / काज & gt; & Lt; / United & gt; & Lt; Joint name = "fixed point" & gt; & Lt; Link1 body = "arm" /> & Lt; Link2 body = "swing" /> & Lt; Fixed & gt; & Lt; / Fixed & gt; & Lt; / United & gt; & Lt; Geom name = "floor" & gt; & Lt; Plane a = "0" c = "0" b = "1" d = "-44.0" /> & Lt; / Geom & gt; & Lt; / Space & gt; & Lt; / World & gt; & Lt; / Xode & gt; & Lt ;! - odeenvironment parameter & lt; Passpairs & gt; ('Arm', 'swing') & lt; AffixToEnvironment & gt; Fixed point & lt; End & gt; - & gt;