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DARPA arm simulator does that here:

Note there was a specific gazebo tag in the URDF (<provideFeedback value="true"/>) that had to be used to get ODE to compute the force and torque at a particular point because it does some optimizations that typically prevent it from working.

I don't know if they've written a better implementation in the mean time, but this worked at the time.

DARPA arm simulator does that here:

Note there was a specific gazebo tag in the URDF (<provideFeedback value="true"/>) that had to be used to get ODE to compute the force and torque at a particular point because it does some optimizations that typically prevent it from working.

I don't know if they've written a better implementation in the mean time, but this worked at the time.

DARPA arm simulator does that that, as a gazebo plugin, here:

Note there was a specific gazebo tag in the URDF (<provideFeedback value="true"/>) that had to be used to get ODE to compute the force and torque at a particular point because it does some optimizations that typically prevent it from working.

I don't know if they've written a better implementation in the mean time, but this worked at the time.

DARPA arm simulator does that, as a gazebo plugin, here:

Note there was a specific gazebo tag in the URDF (<provideFeedback value="true"/>) that had to be used to get ODE to compute the force and torque at a particular point because it does some optimizations that typically prevent it from working.

I don't know if they've written a better implementation in the mean time, but this worked at the time.

Update: Note that from @ThomasK's response, the current version of Gazebo may not be able to use such a plugin until, the referenced patch is released.