Best way to read torques from joints
Posted: 08 May 2022, 12:04
Hello,
In my Coppeliasim scene, I have joints that are motor enabled + control loop enabled. I am using position control for these joints using the sim.setJointTargetPosition command, and I want to retrieve the torques that these joints are applying to the links. What is the most precise way of reading these joint torques? Is it OK to use sim.getJointForce, or should I have to use a force sensor along with sim.readForceSensor command to get the torque amount?
In my Coppeliasim scene, I have joints that are motor enabled + control loop enabled. I am using position control for these joints using the sim.setJointTargetPosition command, and I want to retrieve the torques that these joints are applying to the links. What is the most precise way of reading these joint torques? Is it OK to use sim.getJointForce, or should I have to use a force sensor along with sim.readForceSensor command to get the torque amount?