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Question ArticulationBody.AddRelativeTorque() Torque Input

Discussion in 'Physics' started by jnl77, Dec 1, 2023.

  1. jnl77


    Nov 19, 2023
    We are trying to understand what the torque input should be when controlling a robot arm with torque control. Can someone please give me any insight on how exactly the torque is computed? For instance, for a joint with only 1 DOF, setting a Vector3 as <0, 1000, 0> can enable the link to rotate along the local y-axis. Where is the force applied to bring this torque? How do we convert torque back to force, say gravity force?