apply force to drived entity

Question

hi

I understand that drive property for joint is worked as PD controller which spring  is  P  coefficient and damping is D coefficient  in PD controller. I want to simulate the robot with links those have interaction with environment  , means that we can apply forces and torques  more than which joint driver apply to entity. i understand that if the entity drived , we could not apply any force or torque to that entity . i need apply these forces and see the result of this forces in action of robot link , if i do this i can simulate virtual environment  in correct way, how can i solve this problem  

Answer 1

Hi Samim,

This is an interesting quesiton. Did you figure out the solution? If so - it would be great if you shared it.

Answer 2

hi Greg

for solve it we should know the  detail about drive method which MRDS developers have written . but as you know these details are meta data and i could not have access to this data ,for this we are writing new drive method for own to solve these problem