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Probably the easiest solution is to write a for loop that systematically increases torque applied to the joint until the joint moves. There is a remaining problem though... a torque generates an angular acceleration. If there are no other torques acting on the joint (e.g. friction, damping, gravity on attached link, etc), the torque you apply will increase the angular speed of your joint either forever or until it reaches an axis limit that you set in the SDF.
What's your ultimate goal here? What are you looking to achieve with the torques you are applying to the joints?
| | 2 | No.2 Revision |
Probably Gazebo isn't really good at simulating when things deform or break. You wouldn't want to use Gazebo to find out how much force can be applied to a joint before it physically breaks... you'd want to use FEA for something like that.
Anyways, if you are just trying to make your leg dance without breaking it, probably the easiest solution is to write a for loop that systematically increases torque applied to the joint until the joint moves. There is a remaining problem though... a torque generates an angular acceleration. If there are no other torques acting on the joint (e.g. friction, damping, gravity on attached link, etc), the torque you apply will increase the angular speed of your joint either forever or until it reaches an axis limit that you set in the SDF.
What's your ultimate goal here? What are you looking to achieve with the torques you are applying to the joints?
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