Home | Tutorials | Wiki | Issues
Ask Your Question

How to change the joint bounce parameter?

asked 2014-06-12 08:58:28 -0500

AndreiHaidu gravatar image

Hi there,

I wanted test some joint parameters, and noticed the joint bounce parameter from the sdf file is not present in the source code, (only as a surface parameter). Is in not implemented?

Cheers, Andrei

edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted

answered 2014-06-12 12:29:53 -0500

hsu gravatar image

Hi Andrei,

How would you like bounce parameter to affect dynamics of a joint?

As you mentioned, as far as I know, bounce is used by ode to try and approximate elastic contact dyanmics. We don't currently have good tests for elastic contact dynamics in gazebo.

edit flag offensive delete link more


May be remotely related to topic here, but also to plug new impact capable solver - for better frictional impact dynamics, I recommend looking into Simbody's new rigid contact PLUS solver. The rigid contact solvers have been merged into master branch of simbody, and is scheduled to be release with Simbody 4.0.

hsu gravatar imagehsu ( 2014-06-12 12:30:14 -0500 )edit

I thought it has a similar effect to the surface bounciness, only that it applies when the joint limits are exceeded. At least that's what I understood its description: Bounciness of the limits . Thanks for the suggestion of Simbody's PLUS solver, I will look into that as well.

AndreiHaidu gravatar imageAndreiHaidu ( 2014-06-13 04:11:58 -0500 )edit
Login/Signup to Answer

Question Tools


Asked: 2014-06-12 08:58:28 -0500

Seen: 430 times

Last updated: Jun 12 '14