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Tutorial for actuator example?

asked 2017-11-22 22:56:31 -0500

buttabrotha gravatar image

updated 2017-11-22 23:05:57 -0500

I've downloaded and built the actuator example given on bitbucket. When I run the actuator executable and generate the plots i find they show that the passive and actuated joints have the same torque applied, speed and positional values.

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answered 2017-11-22 23:24:18 -0500

buttabrotha gravatar image

this was corrected by my editing the available tutorial file main.cc at around line 189:

joints[j]->SetForce(index, maxTorque);

to:

if ( j==0) joints[j]->SetForce(index, maxTorque);

else joints[j]->SetForce(index, 0);

I found that initially it was setting both joints to be torque actuated at the first joints max torque

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Asked: 2017-11-22 22:56:31 -0500

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Last updated: Nov 22 '17