Gazebo command message, specified as a bus. The command is an instruction for a
specified model link or joint. Specify the model name as part of the bus signal using
the Gazebo Select
Entity block.
There are two different command types with specific fields:
ApplyLinkWrench:
model_name –– Variable-size uint8
array representing the name of the model in the Gazebo simulator. You can
specify this field using the Gazebo
Select Entity block.
link_name –– Variable-size uint8
array representing the name of the link in the model in the Gazebo
simulator. You can specify this field using the Gazebo
Select Entity block.
force_type –– Variable-size uint8
array specified as 'SET' or 'ADD'.
'SET' overwrites any existing force command for the
specified duration. 'ADD' adds the value with existing
commands.
Fx, fy, fz –– double values
specifying the amount of force applied to the Gazebo model link in world
coordinates and Newtons.
torque_type –– Variable-size uint8
array specified as 'SET' or 'ADD'.
'SET' overwrites any existing torque command for the
specified duration. 'ADD' adds the value with existing
commands.
Tx, ty, tz –– double values
specifying the amount of torque applied to the Gazebo model link in world
coordinates and Newton-meters.
duration –– Bus containing seconds and nanoseconds as
double integers, which specify how long to apply the
torque in simulation time.
ApplyJointTorque:
model_name –– Variable-size uint8
array representing the name of the model in the Gazebo simulator. You can
specify this field using the Gazebo
Select Entity block.
joint_name –– Variable-size uint8
array representing the name of the joint in the model in the Gazebo
simulator. You can specify this field using the Gazebo
Select Entity block.
index –– uint32 integer that
identifies which joint axis the torque should be applied to.
effort –– double scalar value
specifying the amount of torque or force to apply to the joint.
duration –– Bus containing seconds and nanoseconds as
double integers, which specify how long to apply the
torque in simulation time.
Data Types: bus
