Discrete Time Constant-Step Control Simulation #5849
Description
Is there a method for doing discrete time, constant timestep-based control for soft robotics? I would like to simulate my closed-loop control system with discrete time-step analogs for my real control loop in SOFA before building the physical prototype.
I am not very familiar with the internals of SOFA, but from my basic research I suspect SOFA advances in adaptive numerical timesteps, rather than discrete timesteps that would align with my physical controller.