What happens with the kp parameter when set through Gazebo?

asked 2019-11-28 09:19:47 -0500

kumpakri gravatar image

It is said in the SDF documentation that default value of the kp parameter in a link is 1E+12. However, if you look at the default vale in the Gazebo GUI, you will find value 2'147'483'647, as this is the largest possible 32 bit number. So what is the actual kp that is set in ODE by default id it is run by Gazebo? And what if I set a kp larger than 2'147'483'647, say 1E+10 in Gazebo plugin? Would the 1E+10 or the 2'147'483'647 value be passed into ODE and actually effect the simulation results? Is there any way how to look what parameters the ODE actually use independent of Gazebo?

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