Real-Time Physics Simulation Forum

Hi, I would like to control robots in PyBullet using trajectory optimization. I need to get dynamics constraint violation (e.x. x_t + dt * x_t_dot = x_tp1, where x_t_dot = f(x_t, u_t)) between consecutive timesteps? Is there another way than calling resetJointState(x_t), applying u_t to motors and s...