Hello,
Would it be possible have direct control over the torque/force at the joint?
I know it's possible to do so by enabling the motor at the joint and playing with desired velocity and max torque.
But it is a bit convoluted for something that basic...
When the joint is in torque/force mode but the motor is not enable, it should be possible to set a torque different from zero via a single API function call.
Thanks in advance,
Tom
Direct joint torque/force control
Re: Direct joint torque/force control
Hello,
setting the torque/target velocity of your joint when the motor in not enable will have no effect: the joint will remain free (not motorized).
When your motor is enabled, simply set a large target velocity (e.g. 600 deg/s for a revolute joint). Then, simply modulate the torque/force with sim.setJointforce.
Cheers
setting the torque/target velocity of your joint when the motor in not enable will have no effect: the joint will remain free (not motorized).
When your motor is enabled, simply set a large target velocity (e.g. 600 deg/s for a revolute joint). Then, simply modulate the torque/force with sim.setJointforce.
Cheers
Re: Direct joint torque/force control
Sure, but that requires 2 API calls (to set the force and change the sign of the target velocity) for something very basic.
Hence the "request" for a mode where we can control joint torque directly with one API call.
Hence the "request" for a mode where we can control joint torque directly with one API call.