Stop Joint from Moving in Velocity Mode

[major_david]

Hi,

I'm trying to simulate a gripper in Coppelia. In this application, the joint needs to start moving with a certain velocity until the stop command is sent. I set the joint velocity using the sim.setJointTargetVelocity function. However, when I attempted to stop the joint from moving by setting the velocity to zero using the same function, it didn't work. The joint kept moving.
Is there any method to effectively stop the joint from moving?

[major_david]

In the RG2 gripper model, I noticed that there is an option available in velocity mode named " Lock motor when target velocity is zero".
I couldn't find this option in the model I'm creating even though the control mode is velocity.

[coppelia]

Hello,

in some scenes, there is still the option for the deprecated lock motor when target velocity is zero. This option is deprecated any most of the time not available anymore since it was more of a hack than anything supported by physics engines.

If your max. force/torque is large enough, then you should be able to stop your joint from rotating in velocity mode. Otherwise please post your scene.

Cheers