Hi,
I currently have the UR3 robotic arm loaded in Gazebo using their provided URDF/Xacro. I would like to make the arm move by specifying how much torque a particular joint of the arm produces.
My initial intuition would be to create a Gazebo plugin. I have been looking at the Gazebo Physics Joint class, but I have to admit I am a bit lost as to what function to use. I have a basic plugin that can print out the links and joints of the arm, but I am having little luck moving the arm.
The reason I am not using the built-in JointController class is because eventually I want to test out my own controllers for the arm; however, the default JointController already includes a PID controller implementation built-in and only takes in the goal joint position. I would like a lower-level method to make a joint provide some torque and let Gazebo simulate what applying this torque would do.