Proposed API calls
setForce(joint_names[i], torque[i]);
joints[joint_names[i]]->setForce(torque[i]);
Requirements:
- Iterating over a list of joint names and fitting it in a specific format to another library
- Know the format of the vector you get from the simulation
- Format of vector should be defined in preface based on SRDF
- Address the vector with the joint names in case of using Gazebo's API
- Use a common IF in the robot simulation components as well as in the view components
- Minimum configuration overhead in .ops
- Take care that only valid joints can be addressed in certain scopes (perhaps retrieve joints depending on the "used" kinematic chain?)
Proposed API calls
Requirements: