VRep: How to use V-Rep in Torque/Force mode
The V-REP allows the user to choose how to control the robot, if in inverse kinematic mode or torque/force mode. The configuration in the V-REP environment is different for each case, and sending torque to V-REP can be a little bit tricky. Thereat, this tutorial will cover the control of a V-REP robot using the torque/force mode.
The first step is to set the V-REP environment to work in torque/force mode. When clicking on any joint of the robot, the Scene Object Properties dialog will open, and in the "Mode" part one can select the "Torque/force mode".
Also, to facilitate the future control, one can set the maximum torque and the target velocity to zero, and tick the "Lock motor when target velocity is zero".