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2017-02-06 01:59:59 -0500 | asked a question | Changing max step size affects angular velocity Hi, I was recently graphing the relative angular velocity of a link(applying torque via ROS' Wrench service) and decided to change the "max step size" in Gazebo GUI parameters from 0.0001 to 0.0000001. When I did that, the magnitude of the angular velocities decrease by a factor of ~4 for some reason. Why does changing the "max step size" change the angular velocities so drastically? Should I be expecting such a drastic change in the system? Intuitively, I would've guess that decreasing the "max step size" would decrease the uncertainty not the magnitude of angular velocity. Thanks ahead of time! |
2016-10-30 22:32:46 -0500 | commented question | Reference Frame for ApplyBodyWrench Yep, I have looked into the documentation. And yes, if the axes are aligned with world frame, the torque application would be the same. Let's say that I turn the box 90 degrees in the z plane. If I now apply the torque, the torque is applied around the world frame's x-axis NOT the box's x-axis. |
2016-10-30 13:49:39 -0500 | commented question | Reference Frame for ApplyBodyWrench I am also receiving this error in the terminal if it helps: |
2016-10-30 13:05:35 -0500 | asked a question | Reference Frame for ApplyBodyWrench I am trying to apply torque to a unit box in Gazebo using a Python script that uses the ApplyBodyWrench service. When I apply this torque in the +x direction, it seems that the program is applying the torque on the box in the world coordinates. Instead, I am trying to make it such that it applies the torque with respective to the reference frame of the box. I set the reference frame to "abox::link" but it doesn't seem to work as intended. Also, is "abox::link" the right parameter for model_name? Thanks in advance! |