Doosan robot moves abnomaly

[307321587]

I tried to apply pybullet with a doosan m0609 robot. The urdf is from the official ros project. I referred to some examples to construct my code. However, when joint motor was controlled, the robot moved abonomaly. The Joints appeared to be under-damped. In my code, the ur5 urdf seemed correctly. I suspect there might be something wrong with my urdf. My code is shown as bellow and the whole project is uploaded as a .zip file

Thanks for anyone who can help!

import pybullet as p
import time
import pybullet_data
import math
from collections import namedtuple
from attrdict import AttrDict

physicsClient = p.connect(p.GUI)#or p.DIRECT for non-graphical version
p.setAdditionalSearchPath(pybullet_data.getDataPath()) #optionally
p.setGravity(0,0,-9.8)

p.resetDebugVisualizerCamera(cameraDistance=2,cameraYaw=0,cameraPitch=-40,cameraTargetPosition=[0.5,-0.9,0.5])

planeId = p.loadURDF("plane.urdf")
robotId = p.loadURDF("./urdf/m0609_white.urdf",useFixedBase = True,flags=p.URDF_USE_INERTIA_FROM_FILE)


jointTypeList = ["REVOLUTE", "PRISMATIC", "SPHERICAL", "PLANAR", "FIXED"]
numJoints = p.getNumJoints(robotId)
jointInfo =  namedtuple("jointInfo", ["id", "name", "type", "lowerLimit", "upperLimit", "maxForce", "maxVelocity", "controllable"])
joints = AttrDict()
for i in range(numJoints):
    info = p.getJointInfo(robotId,i)
    print(info)
    jointID = info[0]
    jointName = info[1].decode('utf-8')
    jointType = jointTypeList[info[2]] 
    jointLowerLimit = info[8]
    jointUpperLimit = info[9]
    jointMaxForce = info[10]
    jointMaxVelocity = info[11]
    singleInfo = jointInfo(jointID, jointName, jointType, jointLowerLimit, jointUpperLimit, jointMaxForce, jointMaxVelocity, True)
    joints[singleInfo.name] = singleInfo

print(joints)

for jointName in joints:
    print("jointName:",jointName)
    
    
position_control_group = []
position_control_group.append(p.addUserDebugParameter('joint1', -math.pi, math.pi, 0))
position_control_group.append(p.addUserDebugParameter('joint2', -math.pi, math.pi, 0))
position_control_group.append(p.addUserDebugParameter('joint3', -0.5 * math.pi, 0.5 * math.pi, 0))
position_control_group.append(p.addUserDebugParameter('joint4', -math.pi, math.pi, 0))
position_control_group.append(p.addUserDebugParameter('joint5', -0.5 * math.pi, 0.5 * math.pi, 0))
position_control_group.append(p.addUserDebugParameter('joint6', -math.pi, math.pi, 0))

position_control_joint_name = ["joint1","joint2","joint3","joint4","joint5","joint6"]
print("position_control_group:",position_control_group)
while True:
    time.sleep(1/240.)
    p.configureDebugVisualizer(p.COV_ENABLE_SINGLE_STEP_RENDERING) 
    
    parameter = []
    for i in range(6):
        parameter.append(p.readUserDebugParameter(position_control_group[i]))
    num = 0
    # print("parameter:",parameter)
    for jointName in joints:
        if jointName in position_control_joint_name:
            joint = joints[jointName]
            parameter_sim = parameter[num]
            p.setJointMotorControl2(robotId, joint.id, p.POSITION_CONTROL,
                                    targetPosition=parameter_sim,
                                    force=joint.maxForce,
                                    maxVelocity=joint.maxVelocity)
            num = num + 1
    p.stepSimulation()

robot_simulation.zip

[307321587]

I fix it by construct a new urdf from the .stp file