How change the SDF defined model runtime? (to lock a revolute joint)

Hi, I want to add a Lock property to a revolute joint, I mean I want to Lock the joint so that there is no DOF for that joint anymore and then release the lock again. How can I handle it? I think maybe I should 1 - add a fixed joint exactly in the revolute joint position so it will prevent the revolute joint revolution. 2 - or change the to 0 0 0 To do that I should change the model (SDF) runtime. how can I do that in gazebo? Thanks,

Asked by Hadi Kazemi on 2014-03-08 14:47:16 UTC

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Answers

You have to set the high and low stop of the revolute joint to 0. Joint::SetHighStop(0,0)

Asked by AndreiHaidu on 2014-03-09 05:43:17 UTC

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See this answer.

Asked by scpeters on 2014-03-10 12:57:46 UTC