Hello Coppelia Robotics Team,
I hope this message finds you well. I am currently working with the Joint Dynamic Properties dialogue in software and would like to know how to set the duration for the applied constant torque (in N*m) on the joints.
Additionally, I am curious whether it is possible to apply a variable torque that depends on time, rather than a constant value. If so, could you please provide some guidance on how to implement this?
Thank you for your assistance!
Best regards,
Ben
How to Set the Duration of Constant Torque in Joint Dynamic Properties?
Re: How to Set the Duration of Constant Torque in Joint Dynamic Properties?
Hello,
you can set the force applied by a joint (if that joint is in dynamics mode, and in force control) with sim.setJointTargetForce.
If you want to modify that force/torque, you can do that in each simulation step. If you need to modify it in each dynamics step, then do this in a joint callback function.
Cheers
you can set the force applied by a joint (if that joint is in dynamics mode, and in force control) with sim.setJointTargetForce.
If you want to modify that force/torque, you can do that in each simulation step. If you need to modify it in each dynamics step, then do this in a joint callback function.
Cheers