[choreonoid-users 00022] Re: How to get resulting torque and Actuator torque

[Shin'ichiro Nakaoka]

Hi Luis,

> 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?

In fact the "u" port is the actuator torque of the joint.
Sorry, there is no interface to directly get the resulting torque from
the simulator.

The forward dynamics is basically calculated in
src/Body/ForwardDynamicsABM.cpp, and there may be the corresponding
variable in the source.

-- 
Shin'ichiro Nakaoka <s.nakaoka �� aist.go.jp>