Joint Torque Springs Example

From sdk-wiki
Jump to: navigation, search

Joint Torque Control


This example shows joint torque control usage. After moving to neutral, the robot will enter torque control mode, applying torques representing virtual springs holding the joints to their start position.

Code Walkthrough

Joint Torque Springs - Code Walkthrough


Start the joint springs example from an SDK terminal session, ex:

 $ rosrun baxter_examples


There are three modes of control for Baxter's arms, joint position, joint velocity, and joint torque control. This example calculates and applies torques linearly relative to offset from the start position creating the illusion that springs of configurable stiffness are attached to each joint. The example demonstrates setting of the command timeout, commanding joint torques at 1000Hz, and exiting torque control mode cleanly.


Start the joint torque springs example from an RSDK terminal session using:

   $ rosrun baxter_examples

In another terminal:

   $ rosrun rqt_reconfigure rqt_reconfigure


Joint Torque Springs - Code Walkthrough


For common issues specific to using wobbler with Baxter, check out the Troubleshooting page.