Three different methods that return torque on the joint

asked 2020-07-14 10:00:00 -0500

kumpakri gravatar image

updated 2020-07-14 10:00:41 -0500

The Gazebo API has 3 methods that return "torque" of the joint

  • GetForceTorque().body1Torque
  • GetForceTorque().body2Torque
  • GetLinkTorque()

When I record all of them during the simulation, each of them is different. They do stay in the same range, but the graphs are different. The "LinkTorque" sometimes kind of follows the GetForceTorque().body1Torque, other times the GetForceTorque().body2Torque. What does each of those values represent?

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