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What's the meaning of <friction> tag under Joint->axis->dynamic

asked 2013-09-06 16:16:48 -0500

EdwardC gravatar image

Hi, there,

In the documentation, the definition of <friction> is "The physical static friction value of the joint.", then is it a force, torque or just a friction coefficient?

One link of my model will bend under the gravity from initial position around its joint axis, I just want to prevent this happening, so I tried to set the value between <friction> tag, but no matter what value I set it, the bending will still happen and won't even slow down. So anyone know any way to stop it? Or know the mechanism how this "friction" works?

Thanks!

The code for that joint is:

   <joint type="revolute" name="Center_hinge">
      <pose>0 0 0 0 0 0</pose>
      <child>UHolderBody</child>
      <parent>CircuitHolder</parent>
      <axis>
        <dynamics>
          <!--amping>0.20000</damping-->
          <friction>1000</friction>
        </dynamics>
        <xyz>1 0 0</xyz>
        <limit>
          <lower>-1.5707963</lower>
          <upper>1.5707963</upper>
        </limit>
      </axis>
    </joint>
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answered 2013-09-14 20:46:44 -0500

nkoenig gravatar image

Joint friction is a place holder. It's not implemented in the source code yet.

You can disable gravity on your link using the <gravity> tag. This will stop gravity from effecting the link.

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Asked: 2013-09-06 16:16:48 -0500

Seen: 449 times

Last updated: Sep 14 '13