[ros-users] gazebo joint parameters

[Ugo Cupcic]

 Hi John,

Ok. I'm having trouble getting a realistic behaviour for my model in
gazebo... It acts really really smoothly, with really slow movements
when I'm not sending commands to it. For example when the hand hasn't
received any command yet, it will close its fingers in maybe 10 seconds
as if it were in oil or something.

Any idea on how to improve this?

Cheers

On 05/08/10 17:30, John Hsu wrote:
> 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
> <mailto: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
>>     <mailto: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 <mailto: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 <mailto: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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-- 
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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