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ROBOTIS-GIT / ROBOTIS-OP3

ROS packages for the ROBOTIS OP3
http://emanual.robotis.com/docs/en/platform/op3/introduction/
Apache License 2.0
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can I directly control the torque of the joints? #83

Closed yuan0623 closed 4 years ago

yuan0623 commented 4 years ago

Hi, may I know if there is a way to directly control the torque of the joints? In our dynamic model, the input is torque rather than position. Thus, we need to command torque to the joint. However, I didn't find such a way to do it. Looking forward to your response!

kaym9n commented 4 years ago

Hi,

Sorry, there is no way to control the torque of the joints. If you want, you have to develop the software using Dynamixel SDK.

Regards, Kayman

fuad99 commented 4 years ago

Maybe you can try using Dynamixel Workbench application to control each Dynamixel

yuan0623 commented 4 years ago

Hi,

Sorry, there is no way to control the torque of the joints. If you want, you have to develop the software using Dynamixel SDK.

Regards, Kayman

thank you sooooo much! Just wondering, why the ROS control manager cannot allow it.

yuan0623 commented 4 years ago

Maybe you can try using Dynamixel Workbench application to control each Dynamixel

thank you, bro!