MoveIt Setup Assistant: cannot mimic joint because they have different DOF
Hello everyone!
I am struggling to mimic a set of joints in a custom robot hand in MoveIt setup assistant. It's designed so that the upper finger joints bend with the lower finger joint, thus mimicking them. That was the way it was designed by the original creator in SolidWorks to reduce the number of necessary motors.
I tried to use the mimic option in SolidWorks when exporting the design using sw_urdf_exporter to implement that behaviour, however once I load the generated URDF into MoveIt setup assistant the desired behaviour did not translate due to the following error:
[ERROR] [1647181987.366314088]: Join 'Finger1_joint2' cannot mimic joint 'Finger1_joint1' because they have different number of DOF
[ERROR] [1647181987.366402499]: Join 'Finger1_joint3' cannot mimic joint 'Finger1_joint1' because they have different number of DOF
[ERROR] [1647181987.366430665]: Join 'Finger2_joint2' cannot mimic joint 'Finger2_joint1' because they have different number of DOF
[ERROR] [1647181987.366440096]: Join 'Finger2_joint3' cannot mimic joint 'Finger2_joint1' because they have different number of DOF
[ERROR] [1647181987.366465497]: Join 'Finger3_joint2' cannot mimic joint 'Finger3_joint1' because they have different number of DOF
[ERROR] [1647181987.366474706]: Join 'Finger3_joint3' cannot mimic joint 'Finger3_joint1' because they have different number of DOF
[ERROR] [1647181987.366503753]: Join 'Finger4_joint2' cannot mimic joint 'Finger4_joint1' because they have different number of DOF
[ERROR] [1647181987.366512501]: Join 'Finger4_joint3' cannot mimic joint 'Finger4_joint1' because they have different number of DOF
[ERROR] [1647181987.366524092]: Join 'Thumb_joint3' cannot mimic joint 'Thumb_joint2' because they have different number of DOF
[ERROR] [1647181987.366565176]: Join 'Thumb_joint4' cannot mimic joint 'Thumb_joint2' because they have different number of DOF
This is repeated for all of the other fingers also. In my URDF each finger link has one child link except for the last one, so I'm not sure why this error is occurring. Does it mean angle constraints when it says DoF? I'm quite confused.
Does anyone have any ideas on what may be causing the issue?
