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Votes
0
Found in
2020.3
2021.1
2021.1.7f1
2021.2
Issue ID
1342373
Regression
No
Target Velocity calculated in script doesn't match with Target Velocity calculated in Articulation Body Component
Reproduction steps:
1. Open project "case_1342373-ConstantController.zip"
2. Open Scene "Demo"
3. Enter Play Mode
4. In the Hierarchy tab, select GameObject "upper_arm_link"
5. Observe Target Velocity in Articulation Body Component in selected GameObject
6. Observe Target Velocity in Console
Expected result: The velocity displayed in Console reaches 7.5
Actual result: The velocity displayed in Console doesn't reach 7.5
Reproducible with: 2020.3.12f1, 2021.1.11f1, 2021.2.0a21
Could not test with: 2018.4.36f1, 2019.4.28f1 (Doesn't have Articulation Body Component)
Notes:
- It says the Target Velocity has been reached in Articulation Body Component but is not shown in Console
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Resolution Note:
The robot uses stiffness and damping to both reach the provided target and also the provided targetVelocity at the same time. Both of these affect the actual jointVelocity. To reach the targetVelocity exactly, you should set the stiffness to 0. That way your robot will be controlled by changing the targetVelocity and the target is ignored. Otherwise, if you want both the target velocity and target values to control the robot, just keep in mind that they both affect the end result of the joint.