Joint::SetPosition has a physical constraints?

asked 2015-07-02 23:57:16 -0500

bazzisniper gravatar image


I'm trying to understand gazebo.

Now I'm wondering about Joint::SetPosition method.

I'm playing with Simple Arm model.

First, I have tried to set joint position with sin(t) and movement looked ok.

Then I increased the amplitude and frequency of input like 10*sin(5*t).

And it seemed that the robot moves crazily ,I mean very fast.

What I want to know is if I introduce very huge difference between current and desired joint position and that movement cannot be accomplished without incredibly big force, what happens in gazebo?

This question implies this question also.

Does the method Joint::SetPosition run under physics engine? or run by just replacing current joint position with desired one?

Thank you.

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