Search Unity

Question ArticulationBody.AddRelativeTorque() Torque Input

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

  1. jnl77

    jnl77

    Joined:
    Nov 19, 2023
    Posts:
    7
    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?