urdf joint dynamics problem

asked 2023-02-28 16:03:19 -0500

MASAAB gravatar image

I have a problem with urdf joint dynamics. I'm building an omni-wheeled mobile robot and I'm adding the dynamics part to solve floating inertia problem and passive wheels joints are not fixed. the problem of inertias is fixed when adding dynamics but every time i add joint dynamics "<dynamics damping="0.7"/>" in the urdf the robot wheels gets offset to the zero coordinate. I don't know the reason for this. I would really appreciate if anyone can help.

this is how i wrote my joints urdf: <joint name="wheel1_j1" type="continuous"> <origin xyz="0.0206872750450472 -0.00992764787906175 0.0453542202326703" rpy="0 0 0"/> <parent link="wheel_one"/> <child link="wheel1_1"/> <axis xyz="-0.697228494854644 -0.697228494854659 0.16656785982126"/> <dynamics damping="0.7"/> <limit effort="0" velocity="1"/> </joint>

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