Sawyer velocity controller parameters


EugVal
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Hello,

I am setting up the Sawyer in the Mujoco physics simulator, but I have some trouble finding information on the joint velocity controller.

More specifically, I am interested to know what happens when we set joint velocities using the  set_joint_velocities method on the Limb class .

I assume it uses a PID contoller to convert the commanded velocities to low level signals on the arms, but I would like to know the process more precisely. For instance, what are the velocities mapped to and what is the type of controller and what are its corresponding gains?

I am trying to understand how the actuation model works in a bit more detail so I can set up the simulation adequately, apologies if I missed some documentation somewhere that goes through the information I am looking for.

Thanks!

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