I was wondering what is the physical meaning of the inputs in set_input? I was trying to balance the block in block2d and block example with a controller! function. I need to set the input in the gravity direction to be timestep*actual_object_weight in order to balance the object. If I want to exert certain forces/torques on the joints, should I always multiple the actual force/force by timestep to get the input?
Here is the control function I used to balance 'block2d'
function controller!(mechanism, t)
u = [0.0, -mechanism.bodies[1].mass*mech.gravity[3]*timestep, 0.0]
set_input!(mechanism, u)
end
I was wondering what is the physical meaning of the inputs in
set_input
? I was trying to balance the block inblock2d
andblock
example with acontroller!
function. I need to set the input in the gravity direction to betimestep*actual_object_weight
in order to balance the object. If I want to exert certain forces/torques on the joints, should I always multiple the actual force/force by timestep to get the input?Here is the control function I used to balance 'block2d'