Comments (4)
from raisimlib.
There is no reaction torque from a point. A point cannot apply torque.
You have to add all contact forces to get the sum.
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@jhwangbo
Thanks for the reply. In my code, the way to get the contact force for a surface contact is:
size_t armEE_B_idx = anymals[1]->getBodyIdx("bracelet_link");
armEEContactForceB_mrt.setZero();
for(auto& contact_: anymals[1]->getContacts()) {
if (contact_.skip()) continue; /// if the contact is internal, one contact point is set to 'skip'
if (armEE_B_idx == contact_.getlocalBodyIndex()){
armEEContactForceB_mrt = std::pow(-1, !contact_.isObjectA()) * contact_.getContactFrame().e().transpose() * contact_.getImpulse().e() / dt;
}
}
But the results turn out to be 3X1 vector, which is not for the corner point separately. In this case:
- Is it the summed force of the surface contact?
- How to get the corner point contact force separately?
Thanks.
from raisimlib.
- if all four points are in contact, the will be in
anymals[1]->getContacts()
. Then you have to sum them up with your code - You are already doing that with your code
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