Re: [ros-users] gazebo joint parameters

>     Thanks a lot. I missed this!

>     On 05/08/10 13:11, Adolfo Rodríguez Tsouroukdissian wrote:

>>     On Thu, Aug 5, 2010 at 1:17 PM, Ugo Cupcic <ugo@shadowrobot.com
>>     <mailto: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 <mailto: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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>     -- 
>     Ugo Cupcic         |  Shadow Robot Company | ugo@shadowrobot.com <mailto: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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