[Question] How to move to target position in one time-step?

[kaijieshi7]

Question

Hi, Isaac lab team.

I want to move a robot hand. I add x,y, and z translations and rotations to the wrist. The joint tree looks like: x, y, z, yall, row, pinch, hand joint_i. And the root is fixed.
When I send the command to x,y, and z. For instance, (1, 1, 1) as target joint positions. The joint position is not (1, 1, 1) after one time-step.
I want the wrist can move to target joint positon with only one time-step.
What can I do to achieve this?

Thank you very much.

[RandomOakForest]

Thanks for posting this. This would depend on how you are achieving this. You can set the joint positions directly instead of using the actuator. I will move this to our Discussions section for the team to follow up.