On Thu, Aug 5, 2010 at 1:17 PM, Ugo Cupcic <ugo@shadowrobot.com> wrote:

>  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>
>
> You can add static friction to the dynamics joint element. This link
documents all the valid elements for a URDF joint:

 http://www.ros.org/wiki/urdf/XML/Joint

HTH

Adolfo


> 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
>
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>



-- 
Adolfo Rodríguez Tsouroukdissian, Ph. D.

Robotics engineer
PAL ROBOTICS S.L
http://www.pal-robotics.com
Tel. +34.93.414.53.47
Fax.+34.93.209.11.09
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