[choreonoid-users 00019] How to get resulting torque and Actuator torque

[Luis Filipe Rossi]

Hello,

Considering that i am using a RTC controller. I believe the "u" port the
the actuator torque of the joint. How can I retrieve the resulting torque
(actuator + external forces) at the joint for further analysis?

Best regards,

-- 
Luís Filipe Rossi
Electrical Engineer
Biomechatronics Lab. / Grupo de Sensores Integráveis e Sistemas
Escola Politécnica
Universidade de São Paulo
Cel. +55 (11) 97662-9234
-------------- next part --------------
An HTML attachment was scrubbed...
URL: <http://choreonoid.org/pipermail/choreonoid-users/attachments/20131108/2931fd76/attachment.html>