AMotor joint having noise

[Former user]

Hi

I'm trying to write a PD-controller using AMotors. So I'm turning the motors off by setting the fmax parameters to 0. It kind of seems to be working now, but the issue is that when I rotate a joint to its limit in one of its axes, it produces some rotational noise in the angle in other axes. So the pd controller tries to compensate those and this effect just becomes bigger and bigger, leading to a lot of noisy movements. Any idea what might be causing this?

I'm using ode v0.12 and the KP = 50 and KD = 2.5 (i also tried a lot of other values but so far these values produced the best output).

I can provide the code if that helps.

Cheers Amin

[Oleh Derevenko]

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[Oleh Derevenko]

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