I've downloaded and built the actuator example given on bitbucket. When I run the actuator executable and generate the plots i find they show that the passive and actuated joints have the same torque applied, speed and positional values.
this was corrected by my editing the available tutorial file main.cc at around line 189:
joints[j]->SetForce(index, maxTorque);
to:
if ( j==0)
joints[j]->SetForce(index, maxTorque);
else joints[j]->SetForce(index, 0);
I found that initially it was setting both joints to be torque actuated at the first joints max torque
Asked: 2017-11-22 22:56:31 -0500
Seen: 1,096 times
Last updated: Nov 22 '17
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