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Isaac Sim Version
[v] 4.5.0
4.2.0
4.1.0
4.0.0
4.5.0
2023.1.1
2023.1.0-hotfix.1
Other (please specify):
Operating System
[v] Ubuntu 22.04
Ubuntu 20.04
Windows 11
Windows 10
Other (please specify):
GPU Information
NVIDIA GeForce RTX 4070
NVIDIA-SMI 535.183.01
Topic Description
Detailed Description
It says " There is one RMPflow parameter that is robot-specific: joint_velocity_cap_rmp. This term sets a limit on the maximum velocity that is allowed by RMPflow for any joint in the specified configuration space. Investigating the URDF, we can see that each joint in the Cobotta Pro 900 has a velocity limit of 1 rad/s." in the upon website.
But in the urdf of our robotic arm, there are three velocities of different joints, as 1(gripper),3(end effort) and 5(other), so which velocity should I set to the joint_velocity_cap_rmp parameter?
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