Hi Ugo,<br>Friction is not modeled in ode at this point, if it's something you need, please file a feature request ticket <a href="https://code.ros.org/trac/ros-pkg/newticket">here</a>, and set simulator_gazebo as the component. Modeling coulomb friction at a joint is possible in ODE, but has not been tested.<br>
thanks,<br>John<br><br><div class="gmail_quote">On Thu, Aug 5, 2010 at 5:13 AM, Ugo Cupcic <span dir="ltr"><<a href="mailto:ugo@shadowrobot.com">ugo@shadowrobot.com</a>></span> wrote:<br><blockquote class="gmail_quote" style="margin: 0pt 0pt 0pt 0.8ex; border-left: 1px solid rgb(204, 204, 204); padding-left: 1ex;">
<div text="#000000" bgcolor="#ffffff">
Thanks a lot. I missed this!<div><div></div><div class="h5"><br>
<br>
On 05/08/10 13:11, Adolfo Rodríguez Tsouroukdissian wrote:
<blockquote type="cite"><br>
<br>
<div class="gmail_quote">On Thu, Aug 5, 2010 at 1:17 PM, Ugo
Cupcic <span dir="ltr"><<a href="mailto:ugo@shadowrobot.com" target="_blank">ugo@shadowrobot.com</a>></span>
wrote:<br>
<blockquote class="gmail_quote" style="margin: 0pt 0pt 0pt 0.8ex; border-left: 1px solid rgb(204, 204, 204); padding-left: 1ex;">
Hi all,<br>
<br>
I'm currently trying to get a better control on our gazebo
model of the<br>
Hand. I'm having trouble finding any kind of documentation
regarding the<br>
parameters you can apply to a joint (e.g. friction). Is there
a place I<br>
could start with?<br>
<br>
For the time being, my joints look like this:<br>
<joint name="trunk_rotation" type="revolute"><br>
<parent link="${parent}"/><br>
<child link="shadowarm_trunk"/><br>
<origin xyz="0 0 0.01" rpy="0 0 0" /><br>
<axis xyz="0 0 1" /><br>
<limit lower="-${M_PI/2}" upper="${M_PI/4}"<br>
effort="10" velocity="1.0"/><br>
<dynamics damping="1"/><br>
</joint><br>
<br>
</blockquote>
<div>You can add static friction to the dynamics joint element.
This link documents all the valid elements for a URDF joint:<br>
<br>
<a href="http://www.ros.org/wiki/urdf/XML/Joint" target="_blank">http://www.ros.org/wiki/urdf/XML/Joint</a><br>
<br>
HTH<br>
<br>
Adolfo<br>
<br>
</div>
<blockquote class="gmail_quote" style="margin: 0pt 0pt 0pt 0.8ex; border-left: 1px solid rgb(204, 204, 204); padding-left: 1ex;">
<br>
Cheers,<br>
<br>
Ugo<br>
<br>
--<br>
Ugo Cupcic | Shadow Robot Company | <a href="mailto:ugo@shadowrobot.com" target="_blank">ugo@shadowrobot.com</a><br>
Software Engineer | 251 Liverpool Road |<br>
need a Hand? | London N1 1LX | +44 20 7700 2487<br>
<a href="http://www.shadowrobot.com/hand/" target="_blank">http://www.shadowrobot.com/hand/</a>
@shadowrobot<br>
<br>
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<br clear="all">
<br>
-- <br>
Adolfo Rodríguez Tsouroukdissian, Ph. D.<br>
<br>
Robotics engineer<br>
PAL ROBOTICS S.L<br>
<a href="http://www.pal-robotics.com" target="_blank">http://www.pal-robotics.com</a><br>
Tel. +34.93.414.53.47<br>
Fax.+34.93.209.11.09<br>
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<pre cols="72">--
Ugo Cupcic | Shadow Robot Company | <a href="mailto:ugo@shadowrobot.com" target="_blank">ugo@shadowrobot.com</a>
Software Engineer | 251 Liverpool Road |
need a Hand? | London N1 1LX | +44 20 7700 2487
<a href="http://www.shadowrobot.com/hand/" target="_blank">http://www.shadowrobot.com/hand/</a> @shadowrobot</pre>
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