[Question] How to use robot with mobile base designed in RIDGEBACK_FRANKA ?

[fengjiang5]

Question

Hello,

Thanks for your great work about robot simulation, I know this script gives an examples.

BUT, the script is so easy, and does not contain how to control the robot(the franka arm and the mobile base).

Can you give me an example detail about this?

[fengjiang5]

Looking forward to your ealy reply!

[kellyguo11]

Hi, the script controls the robot through velocity targets and position targets. You can also check out this page to learn more about actuator models.