convert prismatic joint to fixed when not moved
Hello everyone!
I specified a prismatic joint in my .urdf file so that it is movable in z direction like so:
<joint name="my_prismatic_joint" type="prismatic">
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0" />
<parent link="my_parent_link" />
<child link="my_child_link" />
<axis xyz="0 0 1" />
<limit effort="100.0" lower="-0.08" upper="0.1" velocity="0.3" />
</joint>
I can control this via a publisher to my_prismatic_joint_controller/command rostopic which works fine.
However, I want this joint to become immovable aka passive aka fixed if a value (force) of 0.0 is send to this topic.
Is there a way to specify such a joint type?
I don't think this is possible. Also:
prismatic
is a joint type, but your questions appears to be about a form of control. Those are two different things.