Need to get angular frequency for motor torque calculation (currently using hardcoded static value of 2)
Get angular velocity of revolute joint (signed) and use in equation. Retrieve it from Ignition Gazebo. Omega is calculated from the stroke joint.
Need to get angular frequency for motor torque calculation (currently using hardcoded static value of 2) Get angular velocity of revolute joint (signed) and use in equation. Retrieve it from Ignition Gazebo. Omega is calculated from the stroke joint.