[ros-users] gazebo joint parameters

Adolfo Rodríguez Tsouroukdissian adolfo.rodriguez at pal-robotics.com
Thu Aug 5 12:11:59 UTC 2010


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
>
> _______________________________________________
> ros-users mailing list
> ros-users at code.ros.org
> https://code.ros.org/mailman/listinfo/ros-users
>



-- 
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
AVISO DE CONFIDENCIALIDAD: Este mensaje y sus documentos adjuntos, pueden
contener información privilegiada y/o confidencial que está dirigida
exclusivamente a su destinatario. Si usted recibe este mensaje y no es el
destinatario indicado, o el empleado encargado de su entrega a dicha
persona, por favor, notifíquelo inmediatamente y remita el mensaje original
a la dirección de correo electrónico indicada. Cualquier copia, uso o
distribución no autorizados de esta comunicación queda estrictamente
prohibida.

CONFIDENTIALITY NOTICE: This e-mail and the accompanying document(s) may
contain confidential information which is privileged and intended only for
the individual or entity to whom they are addressed.  If you are not the
intended recipient, you are hereby notified that any disclosure, copying,
distribution or use of this e-mail and/or accompanying document(s) is
strictly prohibited.  If you have received this e-mail in error, please
immediately notify the sender at the above e-mail address.
-------------- next part --------------
An HTML attachment was scrubbed...
URL: <http://lists.ros.org/pipermail/ros-users/attachments/20100805/26f80acb/attachment-0003.html>


More information about the ros-users mailing list