How does Gazebo set Force on a Joint, that has no mass ?
Hello,
I am a little confused how it is possible to set a Force/Effort on a Joint that has no Mass or Inertia. I try to understand what is happening when calling the SetForce() function as described in the API(see link below ).
I tried to find the source code for the SetForce method. I looked here: https://github.com/osrf/gazebo/tree/gazebo11/gazebo/physics but setForce() is just in the .hh not the .cc.
Gazebo API Joint http://osrf-distributions.s3.amazonaws.com/gazebo/api/1.4.0/classgazebo_1_1physics_1_1Joint.html#a8da0e864018bc0810bbfcf1e930183a7
Does someone know more about that topic and can help understanding? Thanks !
Asked by val on 2020-07-17 06:20:58 UTC
Comments
The joint connects two links and those links do have mass, isn't that right?
Asked by kumpakri on 2020-07-17 06:41:54 UTC
Thanks for your answer. That is right I guess. So it sets the force at the links not the joint...
Asked by val on 2020-07-20 00:58:21 UTC