Revolute joint translation issue

I am trying to simulate a springy ball joint (metal rod in rubber silicone) of a robot base with a URDF (through ROS). Since URDF does not have a revolute2 joint, I have modeled the joint as two revolute joints in series. This more or less works, but when looking at the joints in Gazebo, I can see, that the second joint in the series is not located in the same position as the first one, when some external force is acting on the parts connected to the second joint. image description
What could be the cause of this? How could I remove this effect?

Asked by dregel on 2021-03-22 12:08:39 UTC

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Answers

Did not figure out the cause of this exactly, but I was able to remove most of this effect, when I made the inertial values (both mass and moments of inertia) of the immediate parent links of these joints match exactly.

Asked by dregel on 2021-04-06 04:00:37 UTC