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Pybullet: limit joint torque in POSITION_COONTROL mode

I'm working with a robot in Pybullet in POSITION_COONTROL mode (torque control is not convinient in my specific case). I would like to limit torque scalar on each joint. How can I achieve it without switching to torque control mode?

Solution

  • You can set the maximum torque in position control using the force argument in setJointMotorControlArray. See the Quickstart Guide for more information