2020-02-17 19:14:05 -0500 received badge ● Famous Question (source) 2020-02-17 19:14:05 -0500 received badge ● Notable Question (source) 2019-05-23 12:41:01 -0500 received badge ● Famous Question (source) 2019-05-23 12:41:01 -0500 received badge ● Notable Question (source) 2019-03-15 04:41:32 -0500 received badge ● Popular Question (source) 2019-03-07 08:25:44 -0500 received badge ● Famous Question (source) 2019-03-07 08:25:32 -0500 received badge ● Notable Question (source) 2019-02-27 02:45:29 -0500 asked a question Return forces/torques set to joints via physics::Joint::SetParam("vel", ...) Return forces/torques set to joints via physics::Joint::SetParam("vel", ...) As far as I understand this function from t 2019-01-24 10:28:00 -0500 received badge ● Popular Question (source) 2019-01-19 22:10:43 -0500 edited question How do I use ODE's ERP feature correctly to model an elastic joint? How do I use ODE's ERP feature correctly to model an elastic joint? I am modelling elastic links via revolute joints tha 2019-01-19 22:10:18 -0500 edited question How do I use ODE's ERP feature correctly to model an elastic joint? How do I use ODE's ERP feature correctly to model an elastic joint? I am modelling elastic links via revolute joints tha 2019-01-19 22:08:54 -0500 asked a question How do I use ODE's ERP feature correctly to model an elastic joint? How do I use ODE's ERP feature correctly to model an elastic joint? I am modelling elastic links via revolute joints tha 2018-12-11 17:22:39 -0500 commented question Physics::Joint::GetAngle() returning incorrect values close to 0 I found an approach that promises to work for me at least. It is not exactly an answer to the issue with GetAngle in gen 2018-12-11 10:12:58 -0500 edited question Physics::Joint::GetAngle() returning incorrect values close to 0 Physics::Joint::GetAngle() returning incorrect values close to 0 I'm modeling elastic links by revolute joints with a ce 2018-12-11 09:17:09 -0500 received badge ● Popular Question (source) 2018-12-05 18:03:20 -0500 asked a question Physics::Joint::GetAngle() returning incorrect values close to 0 Physics::Joint::GetAngle() returning incorrect values close to 0 I'm modeling elastic links by revolute joints with a ce 2018-11-28 16:48:54 -0500 received badge ● Enthusiast 2018-11-26 14:01:33 -0500 received badge ● Famous Question (source) 2018-11-21 17:10:22 -0500 received badge ● Supporter (source) 2018-11-21 17:10:21 -0500 commented answer Converting URDF to SDF: not working Thank you, that clears it up. I tried building SDFormat 6.0.1 from source, which did not help with gazebo 7.0.0. Is ther 2018-11-21 17:01:56 -0500 marked best answer Converting URDF to SDF: not working I am trying to convert a robot specified in URDF into SDF by using the URDF parser from Gazebo (gz sdf -p in.urdf > out.sdf). By default, links connected by fixed joints in URDF get lumped together into single link, as SDF apparently didn't support fixed links in the past:[1] By adding the tag  this lumping is deactivated, and a fixed joint in SDF is approximated by a revolute joint with minPos=maxPos=0. This however doesn't work for me as the joint still allows minimal oscillations. As I read here [2], a new tag  has supposedly been added that will make the SDF file have a true fixed joint. However, upon using the tag, the URDF parser throws the following warning: Warning [parser.cc:778] XML Element[preserveFixedJoint], child of element[joint] not defined in SDF. Ignoring[preserveFixedJoint]. You may have an incorrect SDF file, or an sdformat version that doesn't support this element. Is this tag not part of the final build yet, or can i somehow update my SDFormat to get access to it? I am using Gazebo 7.0.0 Example URDF:  true true  Gets converted to:  ... link base 0 0 ... ...  2018-11-21 17:01:56 -0500 received badge ● Scholar (source) 2018-11-21 13:32:41 -0500 received badge ● Notable Question (source) 2018-11-21 09:39:04 -0500 received badge ● Popular Question (source) 2018-11-20 15:49:26 -0500 commented question Converting URDF to SDF: not working I edited the OP to include a simple example. In short, the tag is completely ignored. If I specify not working I edited the OP to include a simple example. In short, the tag is completely ignored. If I specify not working Converting URDF to SDF: not working I am trying to convert a robot specified in URDF into SDF 2018-11-19 12:30:01 -0500 asked a question Converting URDF to SDF: not working Converting URDF to SDF: not working I am trying to convert a robot specified in URDF into SDF