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for i in range(self.eeId - 1): p.setJointMotorControl2(self.robotId, i + 1, p.POSITION_CONTROL, target_p[i], target_v[i], positionGain=1, velocityGain=0.5)
This code sort of works but has unsatisfactory trajectory tracking error (maximum of 0.01 for some joint). I calculate this error by comparing the logged joint angles and target_p. It is like (the subplot below)
I found that:
1. increase positionGain does not improve tracking accuracy once it reaches a value like 1.
My question is:
1. How on earth is position control implemented?
2. Is there anyway to improve this tracking accuracy since this is quite essential to my application?