Real-Time Physics Simulation Forum

Hi,
I'm trying to understand 2 things:
1) I have the franka_panda urdf file loaded. When I run 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: 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?

The position is achieved taken all constraints into account, including the maximum force and joint limits, contact, friction etc.

There is a maxVelocity argument to clamp the maximum velocity. Alternatively, keep the max force low.
You can also use classical PD control.