How to do Torque Control in Gazebo with UR5?

asked 2018-04-06 06:58:57 -0500

pipothy gravatar image

Hi,

Using a Gazebo simulator built for the UR5. I'm trying to modify it to enable me to control torque (rather than set a goal, a position or a velocity for the joints). Anyone had any luck with this previously?

Thanks, Ben

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