Hi Skhan, sorry for the late reply, one way to do this is to create a model plugin, for example, see this tutorial on how to create a model plugin. In the plugin update loop, you can get the force torque information from one of the joints in the model by calling:
physics::JointWrench wrench = this->model->GetJoint("...your model joint name...")->GetForceTorque(0u);
On the SDF side, in your model, you must set <provide_feedback> to true for this to work.
you can also create a contact sensor as described in this tutorial: http://gazebosim.org/wiki/Tutorials/1.5/sensors/contact
http://www.gazebosim.org/tutorials?tut=contact_sensor&cat=sensors is the new link to the sensor contact tutorial, the above wiki link is dead now.
Asked: 2012-11-18 20:09:57 -0500
Seen: 5,136 times
Last updated: Apr 05 '13
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No one is here to answer it =(