Gazebo | Ignition | Community
Ask Your Question

What unit is "SetForce" on a revolute joint?

asked 2018-08-06 16:07:20 -0500

JakobWelner gravatar image

I have not been able to determine the unit used for applying force to a joint with SetForce(). I assume that its argument is Torque [Nm] but I didn't find it in the documentation and must admit that the name of the method confuses me a bit?

Is there a reason why there is no SetTorque() method on joints?

Thanks in advance

edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted

answered 2018-08-07 08:43:46 -0500

updated 2021-03-30 17:34:57 -0500

From experiments, I can confirm that, for rotational joints, SetForce()'s effort argument is in Nm - at least with the ODE backend.

As to why it's SetForce() instead of SetTorque(), the devs wanted to cover both rotational and prismatic joints.

edit flag offensive delete link more



I believe that N/m is a typo for Nm, isn't it?

alextoind gravatar imagealextoind ( 2021-02-16 04:33:52 -0500 )edit

Yep, good catch. Corrected it.

josephcoombe gravatar imagejosephcoombe ( 2021-03-30 17:35:20 -0500 )edit

Question Tools

1 follower


Asked: 2018-08-06 16:07:20 -0500

Seen: 827 times

Last updated: Mar 30 '21