Classes | Functions
joint_torque_springs Namespace Reference


class  JointSprings


def main

Function Documentation

RSDK Joint Torque Example: Joint Springs

Moves the specified limb to a neutral location and enters
torque control mode, attaching virtual springs (Hooke's Law)
to each joint maintaining the start position.

Run this example on the specified limb and interact by
grabbing, pushing, and rotating each joint to feel the torques
applied that represent the virtual springs attached.
You can adjust the spring constant and damping coefficient
for each joint using dynamic_reconfigure.

Definition at line 166 of file

Author(s): Rethink Robotics Inc.
autogenerated on Thu Aug 27 2015 12:31:14