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