Adding noise to setJointMotorControl2
Posted: Wed Jun 22, 2022 7:51 pm
I would like to run a more realistic trajectory of a robotic manipulator (e.g., kuka_iiwa).
However, just using isn't very helpful because it is using the true joint's state while
I want to add some noise on the encoders (or perhaps on the actuators).
I could add the noise to the end-effector command such that the joint's commands would be noisy due to the inverse kinematics,
but that is cheating and I'm not sure how valid it is (needs calibration).
How can I use noisy sensors as feedback, while avoiding implementing some controller from scratch using?
However, just using
Code: Select all
p.setJointMotorControl2(...,controlMode=p.POSITION_CONTROL,...)I want to add some noise on the encoders (or perhaps on the actuators).
I could add the noise to the end-effector command such that the joint's commands would be noisy due to the inverse kinematics,
but that is cheating and I'm not sure how valid it is (needs calibration).
How can I use noisy sensors as feedback, while avoiding implementing some controller from scratch using
Code: Select all
controlMode=p.TORQUE_CONTROL