I am using pyode for robotics simulation and wanted to be able to
get the torques being applied at different joints of a serial link robot
arm.
As a test I made a simple pendulum -
mass of the ball - 1.3Kg
length of rod - 1meter
I have put a hinge joint between the rod and ode.environment (with axis
alog the z-axis) with a maximum torque of 8 and set its angular velocity to
0.1
After the pedulum reaches equilibrium (at an angle of about 40degrees)
I use joint.getFeedback to look at the forces and torques being applied by
the
hinge joint.
The force is fine: (-0.048762871567434196, 12.818460075084928, 0.0)
This corresponds to the expected mg in the y-direction.
However, I do not get sensible values for the joint torques -
(0.0, 0.0, -0.00035495714435794957)
I was expecting a joint torque of 8 in the z-direction.
I am doing the following -
joint.setFeedback(True) before calling joint.getFeedback.
I have tried this at timesteps of 10ms and 1ms with the same results.
Any help/suggestions about what else I could try?
Advait
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