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I have a model with multiple links and I would like to move one link to a particular pose either in translate mode or by applying forces. How to do it in Ignition Fortress ?

I saw the tutorials. It explains how to do it in translate mode for the whole model and not the link - https://gazebosim.org/docs/fortress/manipulating_models . I would like to know it for the link.

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Have a look at the apply_joint_force, apply_link_wrench and joint_position_controller demo worlds.

Documentation of the plugins can be found here, typically in the header files.

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  • $\begingroup$ Is it also possible to read the applied forces or external forces experienced by a link ? $\endgroup$
    – vbalaji21
    Commented May 15 at 15:48
  • $\begingroup$ Maybe using the Force Torque system and/or the Force Torque sensor but I haven't used either of those and I don't seem to find any example worlds. Possibly the old Gazebo Classic documentation can still be relevant? $\endgroup$
    – JRTG
    Commented May 16 at 14:38
  • $\begingroup$ I just started using force-torque sensor. Unfortunately, there is no clear documentation. Do you know which tags to pass for a plugin in general. I see it is confusing as each plugin has different tags and I do not know how to find them in documentation and I looked in the source code, It was not clear to me $\endgroup$
    – vbalaji21
    Commented May 17 at 15:06

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