'How to add instantaneous force onto drake ball
I'm working on a juggling robot iiwa, and am looking to add disturbances onto the ball every now and then to see how well the controller works. Is there an easy way to add a force/disturbance (e.g. wind) onto the ball?
If it's helpful I'm making the ball using a sdf file.
Solution 1:[1]
MultibodyPlant has an applied_spatial_force input port to facilitate exactly this type of application. There are a number of relevant posts:
Applying an external force to an object in pydrake
Applying Propeller and Wing forces to a MultiBodyPlant in Drake
Sources
This article follows the attribution requirements of Stack Overflow and is licensed under CC BY-SA 3.0.
Source: Stack Overflow
| Solution | Source |
|---|---|
| Solution 1 | Russ Tedrake |