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How is the dynamics controlled in ur5_gazebo simulation ?

asked 2018-10-30 07:55:33 -0500

mewbot gravatar image

I'm using the package found here This is a gazebo simulation of the ur5 robot which is controlled with the MoveIt! library. How is the dynamics managed in this simulation? How can I apply a particular force with the end effector ?

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answered 2018-10-30 13:39:33 -0500

gvdhoorn gravatar image

How is the dynamics managed in this simulation?

Gazebo is used to run the dynamics simulation.

How can I apply a particular force with the end effector ?

There is no direct support for this, so you'll have to write a controller (or find one) that lets you control Cartesian EEF forces and torques.

As ur_gazebo uses ros_control, a ros_control compatible controller would be preferable.

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Asked: 2018-10-30 07:55:33 -0500

Seen: 95 times

Last updated: Oct 30 '18