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making objects unmoveable (static)

asked 2013-11-14 03:57:04 -0500

Garik gravatar image

updated 2013-11-14 03:58:31 -0500

Hello

For my robot I need a, sort of, holder that can hold my joints, without moving around when I apply force to those joints. I tried turning off the gravity and giving it a huge mass but it still moves around and sometimes completely goes wild when I apply some force to the joints. Is there any way to do this in pure SDF?

thanks

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answered 2013-11-15 04:52:06 -0500

AndreiHaidu gravatar image

Hi,

you can set the model to be static

Cheers

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that will make my whole model static. I only need a few links to be static

Garik gravatar imageGarik ( 2013-11-15 05:22:30 -0500 )edit

you could try creating a joint between the link you want to be static and the world (or a static obj), and you set the joint limits to 0, so it does not move, and also set erp to a higher value so it does not exceed its limits.

AndreiHaidu gravatar imageAndreiHaidu ( 2013-11-15 06:06:21 -0500 )edit

thank you for your help. How do i connect to a static object? and do you mind explaining how erp works?

Garik gravatar imageGarik ( 2013-11-19 09:07:01 -0500 )edit

here is erp explained 'http://www.ode.org/ode-latest-userguide.html#sec_3_7_0' , here is the joint explained in the sdf documentation 'http://gazebosim.org/sdf/dev.html#joint365' ; I hope you can combine links from different model, I did not try it.

AndreiHaidu gravatar imageAndreiHaidu ( 2013-11-19 09:12:28 -0500 )edit
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Asked: 2013-11-14 03:57:04 -0500

Seen: 884 times

Last updated: Nov 15 '13