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Question about the implementation of joint motor controller in velocity control mode

Posted: Mon Jan 06, 2020 10:02 am
by edntc

I'm new to pybullet and cannot understand from the quickstart guide how the joint motor controller is implemented for VELOCITY_CONTROL method. The quickstart guide states that control is computed as a constraint error to be minimized, the error being desired_velocity - actual_velocity.

What does that mean exactly? What is the optimisation method to minimize this error?

Thanks a lot!