Real-Time Physics Simulation Forum 2020-10-14T03:05:15+00:00 https://pybullet.org/Bullet/phpBB3/app.php/feed/topic/13082 2020-10-14T03:05:15+00:00 2020-10-14T03:05:15+00:00 https://pybullet.org/Bullet/phpBB3/viewtopic.php?p=43129#p43129 <![CDATA[Re: Question Regarding stepSimulation()]]>
There is a maxVelocity argument to clamp the maximum velocity. Alternatively, keep the max force low.
You can also use classical PD control.

Statistics: Posted by Erwin Coumans — Wed Oct 14, 2020 3:05 am

]]> 2020-10-11T13:39:57+00:00 2020-10-11T13:39:57+00:00 https://pybullet.org/Bullet/phpBB3/viewtopic.php?p=43122#p43122 <![CDATA[Question Regarding stepSimulation()]]> I'm trying to understand 2 things:
1) I have the franka_panda urdf file loaded. When I run

Code: 

p.setJointMotorControl2(objUid, jointIndex, controlMode=p.POSITION_CONTROL, targetPosition=2)p.stepSimulation()
The robot doesn't complete the entire motion even though the target position is within the joint limits: which is understandable, because "stepSimulation" runs only for 1/240 seconds. But how is this final position calculated? Does the physics client take the maximum joint velocity into account and calculate the position accordingly? Like so:

Code: 

final_pos = max_joint_velocity * (1/240)
2) While using realTimeSimulation, the actions seem to be completed instantaneously. Would I be correct in saying that the maximum joint velocity is not taken into account in this case? If this is true how can I regulate the joint to stay withing its maximum joint velocity limit?

Statistics: Posted by Dyu — Sun Oct 11, 2020 1:39 pm

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