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My URDF has tags for velocity limits on each joint, but they don't seem to be taken into account during the simulation. If I apply a torque high enough, the reached velocity is way higher than the one in the URDF. |
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Replies: 1 comment 2 replies
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Yes. Velocity limits are not implemented for now. It is a bit tricky to do it properly as it makes no sense physically speaking. That is just not how physics works in the real world. The right way to do it would be to implement motor torque limit vs motor velocity modelling, but that will come in a later stage. |
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Yeah my bad I was trying to simulate a gearbox like behavior, I didn't see that they were armature and damping implemented ! |
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There is also joint friction that could be useful for this. |
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Yes. Velocity limits are not implemented for now. It is a bit tricky to do it properly as it makes no sense physically speaking. That is just not how physics works in the real world. The right way to do it would be to implement motor torque limit vs motor velocity modelling, but that will come in a later stage.