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How to change the joint bounce parameter?

asked 2014-06-12 08:58:28 -0600

AndreiHaidu gravatar image

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

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answered 2014-06-12 12:29:53 -0600

hsu gravatar image

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.

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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.

hsu gravatar imagehsu ( 2014-06-12 12:30:14 -0600 )edit

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.

AndreiHaidu gravatar imageAndreiHaidu ( 2014-06-13 04:11:58 -0600 )edit
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Asked: 2014-06-12 08:58:28 -0600

Seen: 506 times

Last updated: Jun 12 '14