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Dynamics

The physical properties of the joint when the spring feature wants to be enabled.

Mandatory children

  • spring_damping: Viscous damping coefficient of the spring, from [0.0, 1.0].
    • Var: smtk_coefficient_vector
    • Type: constant
    • Default value: 0.001
  • spring_reference: The spring position reference in m or rad.
    • Var: smtk_vector
    • Type: constant
    • Default: 0
  • spring_stiffness: The spring stiffness value in m or rad.
    • Var: smtk_vector
    • Type: constant
    • Default: 100