[ros-users] gazebo joint parameters

[Ugo Cupcic]

 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
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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