DOF Torque values

[wlsgn1217]

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Torque control implementation

And I dont understand how the joint is drived exactly. get_dof_effort only returns effort = K_usd * (set_dof_position_target - init_position_usd) + D_usd * (set_dof_velocity_target - init_velocity_usd), where init_position_usd and init_velocity_usd is defined as joint parameters in usd file. This is not the real torque the joint should output. Driving torque should be K_usd * (set_dof_position_target - position_now) + D_usd * (set_dof_velocity_target - velocity_now) This would be tricky for …

They said “If you set the drive stiffness and damping to zero you should be able to do torque control. This way the position/velocity target do night fight the specified torque value.”