URDF Joint State Controller

Hi everyone,

I wrote a simple urdf to control the 3-DoF motions of a mannequine head. Here is the file where I define the joint angles and soft_limits:

Superchick

Here is the kicker, the joint state publisher's gui can control the right bladder but not either of the other two bladders. Wondering what I might be doing incorrectly.

Thank you!

Asked by lakehanne on 2016-11-18 16:12:10 UTC

Comments

Is it because you are missing an axis tag for the continuous joints? If not specified, it defaults to (1,0,0), or rotation about x axis.

Asked by JoshMarino on 2016-11-18 22:33:30 UTC

Thanks for your comment. I did add the axis just now and it seems only the right actuator works. The other two actuators do not move the head. The new file has been pushed to the link above.

Asked by lakehanne on 2016-11-19 00:13:19 UTC

When I comment out the other two actuators, I find that each actuator, working in the absence of the other two actuators, controls the head. But using the three actuators simultaneously means only the rightbladder_to_neck actuator works.

Asked by lakehanne on 2016-11-19 00:58:43 UTC

Never stumbled across it before, but not sure how it works when you have 3 separate joints having the same child link. Might have some sort of over-constrained system?

Asked by JoshMarino on 2016-11-19 07:40:31 UTC