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Modelling flexible joints


#1

Is there a way to model elastic joints in Gazebo?


#2

It might be possible (mis)using the CFM and ERP parameters: http://ode.org/ode-latest-userguide.html#sec_3_7_0 . I know it works in ODE, and it might also work in other engines. Probably not in Simbody, which uses a completely different computation mechanism.