How to do Torque Control in Gazebo with UR5?

Hi,

Using a Gazebo simulator built for the UR5. I'm trying to modify it to enable me to control torque (rather than set a goal, a position or a velocity for the joints). Anyone had any luck with this previously?

Thanks, Ben

Asked by pipothy on 2018-04-06 06:58:57 UTC

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Answers

You can use effort_controllers/JointEffortController and set transmission of gazebo to EffortJointInterface.

Asked by itfanr on 2018-10-08 00:27:35 UTC