Simple Issue - Joint Actuator

I have a level 2 S function that generates an angle through which a joint needs to move. If I provide this value directly to the "Motion" of joint actuator, it produces a step response. That is, there is no smooth transition in simulation. I tried providing constant velocity and acceleration to the joint but that does not change anything. The response remains the same.

If I provide "Generalized Forces", the movement is smooth. However, I couldn't figure out how to stop the movement when the joint has reached the angle that I get from the S function. I have tried using enable and trigger but nothing seems to work!

Any advice?

[Syed]

Anybody?

Answer 1

[Arkadiy Turevskiy]

Maybe this could help. Arkadiy