PyBullet torque control bounded to a small value
Posted: 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.
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.