How does Gazebo set Force on a Joint, that has no mass ?

asked 2020-07-17 06:20:58 -0500

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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/g... but setForce() is just in the .hh not the .cc.

Gazebo API Joint http://osrf-distributions.s3.amazonaw...

Does someone know more about that topic and can help understanding? Thanks !

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1

The joint connects two links and those links do have mass, isn't that right?

kumpakri gravatar imagekumpakri ( 2020-07-17 06:41:54 -0500 )edit

Thanks for your answer. That is right I guess. So it sets the force at the links not the joint...

val gravatar imageval ( 2020-07-20 00:58:21 -0500 )edit
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