How to control angular velocity of ArticulationBody

Hello

I am working on simulating a robotic arm. Very simple 3 DOF. I have some sort of pick and place solution where I am able to direct the robot EE to a target point in world frame.

I am looking into simulating a gentle motion but somehow using the ArticulationBody I cannot really get to a state which makes sense. The arm is just too fast or not moving at all.

If I slow down the movement through weaker stiffness then effect is that the arm is slower but it won't get to the target I am setting. ie. I give

xDrive.target = 180

but it stops at 175 (it works properly with higher stiffness).

I tried various combination of Linear/Angular Damping and Friction as well.

I have also tried setting

ArticulationBody.maxAngularVelocity

but nothing seems to be affecting the speed in a decent way.

I am aware of this page https://github.com/Unity-Technologi...ppendix.md#guide-to-write-your-own-controller but honestly it's not very intuitive. I worked with robotics controllers before and it's common to be able to control the max velocity.

This is how I am setting the targets

Code (CSharp):

1.                 var jointName = jointNamesFromROS[joint];
2.                 var jointIndex = (int)jointPositionIndex[jointName];
3.                 var joint1XDrive = jointArticulationBodies[jointIndex].xDrive;
4.                 joint1XDrive.target = result[joint];
5.                 jointArticulationBodies[jointIndex].xDrive = joint1XDrive;

And here are some parameters I work with

 

I made the same experience. Staring with some reasonable values and changing them until the movement makes sense didn't lead to a good working solution.
Writing your own controller and just AddTorque is one option, using another physics engine is another.