making objects unmoveable (static)

Hello

For my robot I need a, sort of, holder that can hold my joints, without moving around when I apply force to those joints. I tried turning off the gravity and giving it a huge mass but it still moves around and sometimes completely goes wild when I apply some force to the joints. Is there any way to do this in pure SDF?

thanks

Asked by Garik on 2013-11-14 04:57:04 UTC

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Answers

Hi,

you can set the model to be static

Cheers

Asked by AndreiHaidu on 2013-11-15 05:52:06 UTC

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that will make my whole model static. I only need a few links to be static

Asked by Garik on 2013-11-15 06:22:30 UTC

you could try creating a joint between the link you want to be static and the world (or a static obj), and you set the joint limits to 0, so it does not move, and also set erp to a higher value so it does not exceed its limits.

Asked by AndreiHaidu on 2013-11-15 07:06:21 UTC

thank you for your help. How do i connect to a static object? and do you mind explaining how erp works?

Asked by Garik on 2013-11-19 10:07:01 UTC

here is erp explained 'http://www.ode.org/ode-latest-userguide.html#sec_3_7_0' , here is the joint explained in the sdf documentation 'http://gazebosim.org/sdf/dev.html#joint365' ; I hope you can combine links from different model, I did not try it.

Asked by AndreiHaidu on 2013-11-19 10:12:28 UTC