Hi all,

I'm currently trying to get a better control on our gazebo model of the
Hand. I'm having trouble finding any kind of documentation regarding the
parameters you can apply to a joint (e.g. friction). Is there a place I
could start with?

For the time being, my joints look like this:
 <joint name="trunk_rotation" type="revolute">
      <parent link="${parent}"/>
      <child link="shadowarm_trunk"/>  
      <origin xyz="0 0 0.01" rpy="0 0 0" />
      <axis xyz="0 0 1" />
      <limit lower="-${M_PI/2}" upper="${M_PI/4}"
      effort="10" velocity="1.0"/>
      <dynamics damping="1"/>
 </joint>


Cheers,

Ugo

-- 
Ugo Cupcic         |  Shadow Robot Company | ugo@shadowrobot.com
Software Engineer  |    251 Liverpool Road |
need a Hand?       |    London  N1 1LX     | +44 20 7700 2487
http://www.shadowrobot.com/hand/              @shadowrobot