Add effort based control - Githubissues

sangteak601 / mujoco_ros2_control

MIT License

11 stars 3 forks source link

Add effort based control #4

Closed sangteak601 closed 2 months ago

sangteak601 commented 3 months ago

Currently, for position and velocity control, effort is bypassed and position and velocity are directly manipulated. This causes discontinuity in the simulation, ultimately leading to unrealistic simulation.

Requirement:

update position/velocity control by effort manipulation
PID gain configuration might be needed