Hi All,
I’m simulating a UR5e in Isaac Sim. I do not have the robot yet, but I will have at some point.
I have defined the forces and velocities according to the link:
Define max_force and max_velocity for each joint
max_force = [28, 28, 28, 150, 150, 150] # Universal Robots - Max. joint torques CB3 and e-Series
max_velocity = [180, 180, 180, 180, 180, 180]
My question is, what values should I use for damping and stiffness? Those are physical values that cannot be changed in the actual robot, right?
I’m using velocity control, in this Core [omni.isaac.core] — isaac_sim 2023.1.1-rc.8 documentation they say to use zero stiffness and a non-zero damping.
Sorry if this is not the right place, thanks in advance for any help!