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apply torque to joint without accumulation

asked 2016-05-10 11:00:33 -0500

djou07 gravatar image

Hi,

when applying force to a joint at every time step with setForce(), it adds the force to previous existing force without refreshing, i looked for a function that do not accumulate but i didn't found how can i solve this problem!

thanks in advance

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I don't think torques are accumulated via Joint::SetForce. Can you please share how you arrived at that conclusion? Thanks. Ref example for ode: https://bitbucket.org/osrf/gazebo/src/76f21ee32c3db6edeb5a7213e00c4ed223e4b815/gazebo/physics/ode/ODEHingeJoint.cc?at=default&fileviewer=file-view-default#ODEHingeJoint.cc-153

hsu gravatar imagehsu ( 2016-05-15 04:07:09 -0500 )edit

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answered 2016-05-16 17:14:43 -0500

hsu gravatar image

as demonstrated in this test Join::SetForce is not cumulative, the moment you stop calling it the joint becomes passive.

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thanks for your reply! I dont know really how it works, but according to this video I made https://www.youtube.com/watch?v=ktEEYCesbkA when I apply at each time step 0.08 Nm to a wheel joint it go realy fast so I thought maybe it is the accumulation.

djou07 gravatar imagedjou07 ( 2016-05-17 09:45:03 -0500 )edit

0.08 is the troque that I caclulated with this equation: torque=length*force

djou07 gravatar imagedjou07 ( 2016-05-17 10:23:27 -0500 )edit
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answered 2016-05-10 11:11:24 -0500

nkoenig gravatar image

You can try calling Link::SetForce and Link::SetTorque on each link connected to your joint.

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Thank you! I tried this but it dont give me a realistic simulation... by the way, Link::SetTorque and Link::AddTorque give the same behaviour, probably one of them dont work...

djou07 gravatar imagedjou07 ( 2016-05-15 03:52:55 -0500 )edit
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Asked: 2016-05-10 11:00:33 -0500

Seen: 468 times

Last updated: May 16 '16