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Passive Joint Problem

asked 2014-08-06 22:30:34 -0500

RoboTN gravatar image

updated 2014-08-06 22:33:25 -0500

Dear all, I want to simulate the passive joint(sping-damper) using in my model. But what i found in the joint setting is just <damping> tag, without stiffness tag as expected. Any suggest to that idea? Thank so much!

Here my joint:

<joint type='revolute' name='Joint'>
 <pose>0 0.0 0.0 0 0.0 0</pose>
 <child>LowerSg</child>
 <parent>UpperSg</parent>
 <axis>
  <xyz>0 1 0</xyz>
      <dynamics>
       <damping>0.0000</damping>
       <friction>0.0000</friction>
      </dynamics>
 </axis>
</joint>
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2 Answers

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answered 2014-09-02 14:15:19 -0500

scpeters gravatar image

We added spring stiffness tags to gazebo 3.1 in pull request 1117. See the changes to the springdampertest.world for an example of the syntax.

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answered 2014-08-07 05:00:00 -0500

AndreiHaidu gravatar image

hi,

there is a stiffness tag as well, see here, however it says that only SimBody supports it.

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Comments

thanks for your answer. but unfortunately, i'm using ODE lib. Hic.

RoboTN gravatar imageRoboTN ( 2014-08-07 08:49:55 -0500 )edit

Is there any other solution?

RoboTN gravatar imageRoboTN ( 2014-08-07 09:37:03 -0500 )edit
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Asked: 2014-08-06 22:30:34 -0500

Seen: 1,358 times

Last updated: Sep 02 '14