How to exert force to a specific point in a CPP script

asked 2021-11-09 12:55:54 -0600

Hi everyone,

So, I'm trying to do a static analysis of my robot, using Gazebo. I'm trying to write a script where I turn gravity on and exert different forces in 10 different points on the robot (simulating cable forces, since I'm building a tendon-driven robot). However, I couldn't find a way to do this. I found ways to apply force on specific links, or torque on the joints, which I can do as a last resort. If someone could enlighten me on this subject, I would appreciate it very much.


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