How to change the joint bounce parameter?

Hi there,

I wanted test some joint parameters, and noticed the joint bounce parameter from the sdf file is not present in the source code, (only as a surface parameter). Is in not implemented?

Cheers, Andrei

Asked by AndreiHaidu on 2014-06-12 08:58:28 UTC

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Answers

Hi Andrei,

How would you like bounce parameter to affect dynamics of a joint?

As you mentioned, as far as I know, bounce is used by ode to try and approximate elastic contact dyanmics. We don't currently have good tests for elastic contact dynamics in gazebo.

Asked by hsu on 2014-06-12 12:29:53 UTC

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May be remotely related to topic here, but also to plug new impact capable solver - for better frictional impact dynamics, I recommend looking into Simbody's new rigid contact PLUS solver. The rigid contact solvers have been merged into master branch of simbody, and is scheduled to be release with Simbody 4.0.

Asked by hsu on 2014-06-12 12:30:14 UTC

I thought it has a similar effect to the surface bounciness, only that it applies when the joint limits are exceeded. At least that's what I understood its description: Bounciness of the limits . Thanks for the suggestion of Simbody's PLUS solver, I will look into that as well.

Asked by AndreiHaidu on 2014-06-13 04:11:58 UTC