Manipulate 22 DoF

Discussion in 'HAPTIX' started by Ana_Ha, Oct 24, 2016.

  1. Hi,

    I would like to do Joint position control of the hand you provide with the Haptix simulator.
    currently i can do mj_update(cmd) and send ref position for the 13 motors.
    is there a function that allows me to manipulate the 22 DoF of the hand using position control?
    thanks in advance
  2. Emo Todorov

    Emo Todorov Administrator Staff Member

    The motors in the existing model provide position control. Are you trying to do the same thing but separately for each joint? If so, you should edit the model so as to attach one position actuator to each joint. Also, there are equality constraints in the model that couple some of the joints. You should remove them if you want independent control over each joint.
  3. Yes i did this, all good ;p

    thank you very much!