Real-Time Physics Simulation Forum 2022-06-22T19:51:59+00:00 https://pybullet.org/Bullet/phpBB3/app.php/feed/topic/13447 2022-06-22T19:51:59+00:00 2022-06-22T19:51:59+00:00 https://pybullet.org/Bullet/phpBB3/viewtopic.php?p=44041#p44041 <![CDATA[Adding noise to setJointMotorControl2]]> However, just using

Code: 

p.setJointMotorControl2(...,controlMode=p.POSITION_CONTROL,...)
isn't very helpful because it is using the true joint's state while
I want to add some noise on the encoders (or perhaps on the actuators).

I could add the noise to the end-effector command such that the joint's commands would be noisy due to the inverse kinematics,
but that is cheating and I'm not sure how valid it is (needs calibration).

How can I use noisy sensors as feedback, while avoiding implementing some controller from scratch using

Code: 

controlMode=p.TORQUE_CONTROL
?

Statistics: Posted by guys — Wed Jun 22, 2022 7:51 pm

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