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
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.
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: 2013-11-14 03:57:04 -0500
Seen: 1,569 times
Last updated: Nov 15 '13
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