spring_reference and spring_stiffness tags in joint
Hi all, I have noticed these two new tags inside the joint tags...are them supported using Gazebo 4.0 and ODE? Best,
Enrico
Asked by Enrico Mingo on 2015-01-10 10:37:37 UTC
Answers
Yes, in gazebo4. These two SDF parameters(spring_reference and spring_stiffness) are read in Joint.cc, which then calls SetStiffnessDamping on the joint. The following physics engine implement SetStiffnessDamping:
Asked by nkoenig on 2015-01-12 11:17:09 UTC
Comments
So the spring is modelled as active stiffness and damping and not like an underactuated system?
Asked by Enrico Mingo on 2015-01-13 04:39:55 UTC
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