PyBullet torque control bounded to a small value

Post Reply
JAguilar
Posts: 1
Joined: Wed Jun 07, 2017 6:39 pm

PyBullet torque control bounded to a small value

Post by JAguilar » Wed Jun 07, 2017 6:59 pm

Hello all,

In PyBullet, I was trying to control a single DoF robot arm using torque control (see example attached) using the setJointMotorControlArray command. When I set controlMode to TORQUE_CONTROL, the torque value used by BulletPhysics seems to be bounded to a rather small value (dependant on the time step). This issue does not replicate when using POSITION_CONTROL as applied torques go well beyond that value.

Any idea on how to increase the maximum allowed torque?

Thanks.

P.S.: The example is set up to input a torque of 10.0 Nm and use a time step of 0.001 s. However, the torque value retrieved through getJointState is -0.0666 Nm.
Attachments
RobotArm1.urdf.txt
URDF model
(1.4 KiB) Downloaded 138 times
PyBulletRobotArmControl.py.txt
python script
(1.06 KiB) Downloaded 123 times

Post Reply