Why can't gazebo set torque to joint? I couldn't find "SetTorque" command for joints. Actually, I cannot understand what "setting force to joint" means. For example, SetForce(0, 1) means generating 1N to a given joint. Does that mean the joint can apply 1N to its loads no matter how big the loads are? I think joint effort should be described as torque...
The reason that I'm asking is that I'm simulating some passive torsional spring-damping joints. Thanks to the answers of this question (http://answers.gazebosim.org/question/217/simulating-springs/), I was able to design those by using
springjoint->SetForce(int _index, (rest_angle-current_angle)*stiffness);
However, stiffness unit of torsional spring is N-m/rad and the unit doesn't match with force. Please clarify what SetForce of joint exactly means in real physics?
