I want to apply 6d forces/torques on a body using the BodyActuator in C++. Usually, when applying forces through i.e. the PointActuator or the CoordinateActuator, I would use the PrescribedController and the function prescribeControlForActuator() to generate a force to be applied. However, the docum...

Thank you for your reply! I'm not familiar with the project on SimTK you used for task based control. Do you know if that also applies constant forces between each time step, or if it's just printing out the forces at each time step whether or not they were constant? This can also accumulate errors....

Hello, I want to analyze, how a certain model behaves with and without external forces. First, I generate a movement without external loads by using the TaskSpace planner https://simtk.org/projects/task-space. I use the TaskBasedTorqueController, which uses CoordinateActuators on each joint to gener...