joint limit is not followed when applying torque based control or velocity based control

Official Python bindings with a focus on reinforcement learning and robotics.
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peterpeter
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Joined: Wed Apr 15, 2020 4:25 pm

joint limit is not followed when applying torque based control or velocity based control

Post by peterpeter »

I created a urdf file with revolute joints and their limits, defined by the effort, joint angle lower and upper bound and velocity bound. The mass of the object is 1.0 and the inertia is ixx=iyy=izz=1.0 and ixy=ixz=iyz=0. The effort is 1300 the joint angles are -pi/2.0 to pi/2.0 for the lower and upper bound. Velocity bound is 1.0. I applied random forces of value 1200 to the joints using torque control or random velocities sampled from -1 to 1 with effort 1200. However, the joint angles do not follow the limit I set in the urdf but sometimes can exceed that bound, resulting in unreasonable behavior. How could I solve this problem? Thanks.
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