compute_joint_torque()

double compute_joint_torque	(	const std::string &	joint_name,
		const double	feedforward_torque,
		const double	target_position,
		const double	target_velocity,
		const double	kp_scale,
		const double	kd_scale,
		const double	maximum_torque
	)

Reproduce the moteus position controller in Bullet.

Parameters

[in]	joint_name	Name of the joint.
[in]	feedforward_torque	Feedforward torque command in N⋅m.
[in]	target_position	Target angular position in rad.
[in]	target_velocity	Target angular velocity in rad/s.
[in]	kp_scale	Multiplicative factor applied to the proportional gain in torque control.
[in]	kd_scale	Multiplicative factor applied to the derivative gain in torque control.
[in]	maximum_torque	Maximum torque in N⋅m from the command.