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Controlling a robot (ragdoll) programmtically

asked 2016-01-09 17:26:48 -0500

sanjeevmk gravatar image

updated 2016-01-09 17:32:49 -0500

Hi, Thanks for answering my previous questions, they were helpful.

I loaded my world with a plane, a ladder and a ragdoll (from the models repository). I now want to be able to rotate the joints of the ragdoll and make it climb the ladder. But I want to do so via a program. This program would decide how much force or torque to apply to some specific joints and then apply these to those joints. I'd also like to see these actions take place in real-time in the 3D window of Gazebo..

While applying these actions I want to sense the ragdoll's and the environment's next physical state.

For example, something like, rotate(link , angle, axis) would rotate the hip link by "angle" around the given axis, and the action can be seen in real time within Gazebo. Plus, I'd like to add realistic constraints on the joints to limit how much each link or joint can be rotated.

What is the quickest way to develop such a thing? Does the plugin api have functions to rotate the joints?

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answered 2016-01-11 04:05:44 -0500

AndreiHaidu gravatar image

Hi there,

here you can take a look at the gazebo joint API. Especially at setForce, or setPosition.

Cheers

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Asked: 2016-01-09 17:26:48 -0500

Seen: 456 times

Last updated: Jan 11 '16