Hi Ugo, Friction is not modeled in ode at this point, if it's something you need, please file a feature request ticket here, and set simulator_gazebo as the component. Modeling coulomb friction at a joint is possible in ODE, but has not been tested.
thanks, John
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:
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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