Joint torque control

[Ignacio Abadía]

Hi everyone,

I am currently using the arm26 model and performing motor control via muscle excitation.

Code: Select all

model.actuate(final_excitation)

where final_excitation is an array with the excitation of each of the muscles actuating the model.

I was wondering if it's also possible to perform motor control by sending joint torque commands to the model. Right now my setup allows me to transform a given joint torque command into muscle excitation using static optimization, but is it possible to actuate the model directly with the torque commands? The torque to muscle excitation conversion is very time consuming, so actuating the model just with torque commands would be nice, if possible.


Thanks in advance,
Ignacio