changing contact joint parameters during simulation [closed]

asked 2012-12-04 03:28:59 -0500

Andrei Haidu gravatar image


I am trying to change the contact joint parameters of a model / link after it is loaded in Gazebo, from a plugin.

The idea is that I am spawning a model with a lot of sphere links, which act like a fluid. After a while I want to change the contact joint parameters values so that the links act like a rigid body.

The contact joint parameters are something like this at the beginning:

  <ode soft_cfm='100.0' soft_erp='100.0' kp='1000000.0' kd='1000000.0' max_vel='100.0' min_depth='0.001'/>

So, is there a way to modify them from a plugin? (I have the plugin made, I can access everything in the world). I know that these joints are created only when contacts occur between links. That is why I suppose I cannot access them with something like:


Any suggestions?

I am running Gazebo with ROS Fuerte.


edit retag flag offensive reopen merge delete

Closed for the following reason question is not relevant or outdated by tfoote
close date 2015-09-18 18:58:48.106233