How to input a value to a joint at every step

[Creasento]

I want to make feedback control to my manipulator.

So I found how to get joint variables (position, velocity, angular velocity) and save it.
Next step is how to input some variables (force in most cases).

Q1: If I want to make feedback control (such as DoB), can I write the code inside the "for" statement?
Because I want to control joints every step, so I think write code in for statement

for statement is this. (I append code)

for (int i = 0; i < runTime; i++) {

      std::this_thread::sleep_for(std::chrono::microseconds(1));
      //inside here?
      server.integrateWorldThreadSafe();
  }

Q2: If I want set torque to reroute joint, how can I? The document said only "setsetExternalTorque" API.
Then should I write "setGeneralizedForce"?
How to I set torque to joint?

[jhwangbo]

Q1. That is correct. Currently the contacts you get before integrateWorldThreadSafe() is previous contacts. I'll also push integrate1WorldThreadSafe() method so that you can get contacts of the current time step.
Q2. Yes. setGeneralizedForce is the way to go.

[Creasento]

If I set force like that, what is the unit of 1? N? or kg*m/s^2?

Eigen::VectorXd jointNominalConfig(arm1->getGeneralizedCoordinateDim());
  jointNominalConfig << 1, 0, 0, 0, 0;
  arm1->setGeneralizedForce(jointNominalConfig);

[jhwangbo]

https://raisim.com/sections/ArticulatedSystem.html#joints