[ros-users] gazebo joint parameters

[John Hsu]

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

On Thu, Aug 5, 2010 at 5:13 AM, Ugo Cupcic <ugo at shadowrobot.com> wrote:

>  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 at 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 at 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 at shadowrobot.com
> Software Engineer  |    251 Liverpool Road |
> need a Hand?       |    London  N1 1LX     | +44 20 7700 2487http://www.shadowrobot.com/hand/              @shadowrobot
>
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