## Re: [PlayerStage-Gazebo] HINGE JOINT AND MASS

 Re: [PlayerStage-Gazebo] HINGE JOINT AND MASS From: Nate Koenig - 2004-08-23 17:03:42 ```Hi Daniel, Gravity compensation can be achieved by applying forces to a joint. In section 7.5.1 of the ODE manual, they list the different parameters for each joint type. Each joint in Gazebo has a SetParam( int parameter, double value) function. This function allows you to set the parameters of a joint. So you can set the velocity of the joints, specify force limits, etc. You can also add forces/torques directly to a body. Look in the Body.hh file, the functions are intuitive. Your third option is to add forces/torques to joints. This is not implemented in Gazebo, but is documented in ODE (section 7.6 of the manual), -nate On Mon, 23 Aug 2004 13:29:49 +0200, Daniel Poza Zamarr=F3n wrote: >=20 > Hello, I asked this question " a long time ago" and you gave me a good > solution.. but at this moment, this solution is not enought: >=20 > I have made a robotic arm. I have a HingeJoint in the shoulder that allow= s > my arm to move up and down. >=20 > THE PROBLEM: Due to my arm MUST HAVE MASS, the arm falls and doesn=B4t wo= rk > properly with this joint. I whould like to be able to move my arm up and > down correctly and to set it in a fixed position whem I want. >=20 > When I asked you this, two monts ago, you suggested me to desactivate the > gravity properties of my arm. This sollution worked ok, but now I MUST HA= VE > MASS so I need another solution. >=20 > Should I use an engine? How can I apply a force to my HingeJoint to balan= ce > the gravity effect? >=20 > Thank you! >=20 > -DANIEL POZA- >=20 > _________________________________________________________________ > =BFEst=E1s pensando en cambiar de coche? Todas los modelos de serie y ext= ras en > MSN Motor. http://motor.msn.es/researchcentre/ >=20 > ------------------------------------------------------- > SF.Net email is sponsored by Shop4tech.com-Lowest price on Blank Media > 100pk Sonic DVD-R 4x for only \$29 -100pk Sonic DVD+R for only \$33 > Save 50% off Retail on Ink & Toner - Free Shipping and Free Gift. > http://www.shop4tech.com/z/Inkjet_Cartridges/9_108_r285 > _______________________________________________ > Playerstage-gazebo mailing list > Playerstage-gazebo@... > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo > ```

 [PlayerStage-Gazebo] HINGE JOINT AND MASS From: - 2004-08-23 11:42:00 ```Hello, I asked this question " a long time ago" and you gave me a good solution.. but at this moment, this solution is not enought: I have made a robotic arm. I have a HingeJoint in the shoulder that allows my arm to move up and down. THE PROBLEM: Due to my arm MUST HAVE MASS, the arm falls and doesn´t work properly with this joint. I whould like to be able to move my arm up and down correctly and to set it in a fixed position whem I want. When I asked you this, two monts ago, you suggested me to desactivate the gravity properties of my arm. This sollution worked ok, but now I MUST HAVE MASS so I need another solution. Should I use an engine? How can I apply a force to my HingeJoint to balance the gravity effect? Thank you! -DANIEL POZA- _________________________________________________________________ ¿Estás pensando en cambiar de coche? Todas los modelos de serie y extras en MSN Motor. http://motor.msn.es/researchcentre/ ```
 Re: [PlayerStage-Gazebo] HINGE JOINT AND MASS From: Nate Koenig - 2004-08-23 17:03:42 ```Hi Daniel, Gravity compensation can be achieved by applying forces to a joint. In section 7.5.1 of the ODE manual, they list the different parameters for each joint type. Each joint in Gazebo has a SetParam( int parameter, double value) function. This function allows you to set the parameters of a joint. So you can set the velocity of the joints, specify force limits, etc. You can also add forces/torques directly to a body. Look in the Body.hh file, the functions are intuitive. Your third option is to add forces/torques to joints. This is not implemented in Gazebo, but is documented in ODE (section 7.6 of the manual), -nate On Mon, 23 Aug 2004 13:29:49 +0200, Daniel Poza Zamarr=F3n wrote: >=20 > Hello, I asked this question " a long time ago" and you gave me a good > solution.. but at this moment, this solution is not enought: >=20 > I have made a robotic arm. I have a HingeJoint in the shoulder that allow= s > my arm to move up and down. >=20 > THE PROBLEM: Due to my arm MUST HAVE MASS, the arm falls and doesn=B4t wo= rk > properly with this joint. I whould like to be able to move my arm up and > down correctly and to set it in a fixed position whem I want. >=20 > When I asked you this, two monts ago, you suggested me to desactivate the > gravity properties of my arm. This sollution worked ok, but now I MUST HA= VE > MASS so I need another solution. >=20 > Should I use an engine? How can I apply a force to my HingeJoint to balan= ce > the gravity effect? >=20 > Thank you! >=20 > -DANIEL POZA- >=20 > _________________________________________________________________ > =BFEst=E1s pensando en cambiar de coche? Todas los modelos de serie y ext= ras en > MSN Motor. http://motor.msn.es/researchcentre/ >=20 > ------------------------------------------------------- > SF.Net email is sponsored by Shop4tech.com-Lowest price on Blank Media > 100pk Sonic DVD-R 4x for only \$29 -100pk Sonic DVD+R for only \$33 > Save 50% off Retail on Ink & Toner - Free Shipping and Free Gift. > http://www.shop4tech.com/z/Inkjet_Cartridges/9_108_r285 > _______________________________________________ > Playerstage-gazebo mailing list > Playerstage-gazebo@... > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo > ```