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erdnaxe / kraby

Documentation and ressources of Kraby, an open-source hexapod robot
https://kraby.readthedocs.io
MIT License
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Set servomotor joint damping, friction and limits #3

Open erdnaxe opened 4 years ago

erdnaxe commented 4 years ago

In urdf_description/src/joints/joint_servomotor.sdf.j2, there is currently:

    <dynamics damping="0" friction="0" /> <!-- TODO -->
    <!-- Herkulex : 361.4°/s i.e. 6.308rad/s, 12kg.cm i.e. 1.18Nm -->
    <limit effort="1.18" velocity="6.308" lower="-1.57" upper="1.57" /> <!-- TODO -->

We may need to add a damping and friction to this joint. We also need to check that the converted effort and velocity is right.