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Read/Write Torque in a Joint

asked 2013-11-04 12:03:31 -0600

Hi, I have to implement a YARP interface in order to permit Joint Torque Control. Actually I don't understand which class and method I have to use in GAZEBO to do this. I am trying different things combining JointPtr and JointCmd but I do not understand from which I can take the torque that the joint is providing and from which I can set a reference torque. Any suggestion? Thank you


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answered 2013-11-05 22:48:55 -0600

glinde gravatar image

The tutorial Controlling a Mobile Robot shows how to set the torque for joints in a model plugin with gazebo::physics::Joint::SetForce().

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Thankyou, I have solved in this way :).

Enrico Mingo gravatar imageEnrico Mingo ( 2013-11-06 05:27:46 -0600 )edit

answered 2015-06-23 06:30:53 -0600

winston gravatar image

updated 2015-06-23 06:32:19 -0600

@glinde is right but the link is invalid. I have found another link of a related source file. Read this: ElevatorPlugin.cc. Try to use SetForce() method. Hope it helps. BTW, Gazebo source file is a good reference for studying Gazebo.

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answered 2015-06-22 15:26:44 -0600

Marco Ursumando gravatar image

Hello, I have the same problem, but the tutorial link in the answer has been removed! I cannot find a tutorial that explains how to control joint torques in a gazebo model using gazebo plugins. Someone can help?

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answered 2013-11-05 05:02:16 -0600

No one has the same issue?

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Asked: 2013-11-04 12:03:31 -0600

Seen: 6,315 times

Last updated: Jun 23 '15