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spring_reference and spring_stiffness tags in joint

asked 2015-01-10 09:37:37 -0500

Hi all, I have noticed these two new tags inside the joint tags...are them supported using Gazebo 4.0 and ODE? Best,


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answered 2015-01-12 10:17:09 -0500

nkoenig gravatar image

Yes, in gazebo4. These two SDF parameters(spring_reference and spring_stiffness) are read in, which then calls SetStiffnessDamping on the joint. The following physics engine implement SetStiffnessDamping:

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So the spring is modelled as active stiffness and damping and not like an underactuated system?

Enrico Mingo gravatar imageEnrico Mingo ( 2015-01-13 03:39:55 -0500 )edit
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Asked: 2015-01-10 09:37:37 -0500

Seen: 816 times

Last updated: Jan 12 '15