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Expose motor drive torque reporting for motors in spherical joints in getJointStateMultiDof.

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erwincoumans
2019-02-27 09:54:12 -08:00
parent 09dbb8ba1b
commit 8e1c1448ab
6 changed files with 291 additions and 299 deletions
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examples/SharedMemory/SharedMemoryPublic.h
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@@ -369,7 +369,7 @@ struct b3JointSensorState2
double m_jointPosition[4];
double m_jointVelocity[3];
double m_jointReactionForceTorque[6]; /* note to roboticists: this is NOT the motor torque/force, but the spatial reaction force vector at joint */
double m_jointMotorTorque;
double m_jointMotorTorqueMultiDof[3];
int m_qDofSize;
int m_uDofSize;
};