# Revision history [back]

Hi,

If you want to have the maximum turning points of +/-180 degrees you could add limits (in radians) to the joint.

If you don't want to have limits, then maybe you just added to turn in degrees and not in radians, and that is why it does not stop (just and assumption).

Cheers

Hi,

If you want to have the maximum turning points of +/-180 degrees you could add limits (in radians) to the joint.

If you don't want to have limits, then maybe you just added to turn in degrees and not in radians, and that is why it does not stop (just and assumption).

UPDATE:

As I saw in the video you added a force to the joint, meaning that the added force will always be applied on the joint, until you change it (for example you had -1 , if at a moment you will put +1 the wheel will turn in the other direction).

I you want to change the position of the joint, then go to the 'Position' tab and add there values.

Cheers

Hi,

If you want to have the maximum turning points of +/-180 degrees you could add limits (in radians) to the joint.

If you don't want to have limits, then maybe you just added to turn in degrees and not in radians, and that is why it does not stop (just and assumption).

UPDATE:

As I saw in the video you added a force to the joint, meaning that the added force will always be applied on the joint, until you change it (for example you had -1 , if at a moment you will put +1 the wheel will turn in the other direction).

I you want to change the position of the joint, then go to the 'Position' tab and add there values.

UPDATE 2:

Then, another thing that could make the wheel start turning is the lack of the rotational inertia matrix in your sdf file. Values can be computed with the help of this wikipedia page.

Here is an example (maybe try these values before computing more accurate ones):

    <inertial>
<pose>0 0 0 0 0 0</pose>
<inertia>
<ixx>0.001</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.001</iyy>
<iyz>0</iyz>
<izz>0.001</izz>
</inertia>
<mass>0.1</mass>
</inertial>


Cheers