Triangle Torque Profile Joint Movements

[nyjintak]

I am in need of assistance as to how to apply a changing torque value to a joint in the form of a triangle profile to a UR5 robot. I have searched through message board and have found a great many topics concerning "torque" and I think I came across how to change the torque value in a child script and what settings are needed for the joint dynamics. I believe then there is a command that would then tell the robot to jog the joint at the given torque until it reaches specified speed. I cannot seem to find what that particular command is. I would also like to know how to make a time based loop. I have seen this done before also but cannot remember where or how in the moving a single object.

Please note this is for an online course project and I had to use V-rep for a couple simple assignments. So I am very much the novice and I am limited on time to figure it all out myself. So, if someone could either answer my questions or point me in the direction of the answers I seek I would be most grateful.

Thank You.

[nyjintak]

I have found that sim.setJointForce and sim.setJointTargetVelocity are the commands I need. But I am finding when I apply it to joint 2, the link simply falls over. Seems it will only work for joint 1. So can anyone please answer this for me, please?

[coppelia]

Hello,

there are several possibilities: maybe the force/torque is not high enough for joint 2? Or joint 2 is not dynamically enabled? Or joint 2 is not in the correct joint mode?
If you don't post your scene, it is difficult to guess what you are doing exactly.

Cheers