CODEWITHSUNDEEP
pythondrake
Lin YANG
Lin YANG

Reputation: 31

Weldjoint and force/torque sensor in DRAKE

I am seeking guidance on how to incorporate a force/torque sensor within DRAKE. My objective is to install a sensor inside a fixed cylinder in DRAKE, enabling it to detect external forces and torques. Subsequently, I aim to simulate another object colliding with this cylinder. However, the current weldjoint readings solely reflect gravitational forces and do not include the external forces and torques.

Any insights or recommendations on how to achieve this in DRAKE would be greatly appreciated. Thank you in advance!

DRAKE's document https://drake.mit.edu/doxygen_cxx/group__sensor__systems.html says adding a weldjoint can work as a force/torque sensor with the function get_reaction_forces_output_port(). I followed it and here is my code,

https://github.com/lllllyang/a-demo-for-drake/tree/main/weldjoint_sensor

As you see, it only returns gravitational forces.

Upvotes: 2

Views: 72

Answers (1)

Lin YANG
Lin YANG

Reputation: 31

This question has been solved by updating to lasted version of DRAKE.

Upvotes: 1

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