Visualize programmed perturbations

Discussion in 'Visualization' started by Jonathan Vorndamme, Nov 8, 2019.

  1. Hello,

    I would like visualize cartesian forces (external perturbations, I somehow generate to test controllers etc.) on bodies in the simulation with an arrow similar to the contact force visualization. How can I achieve this? I assume, I could use mjv_applyPerturbForce, and the perturbance force visualization for that, but I would need to know, how to specify the force and tmoments correctly. Also this does not seem to be usage as it was meant to be.

    Best Jonathan