Effect of the incorrect joint origin in URDF for the motion planning?
Hello !
Explain the situation: I just got the new robot arm series 6-550 from Umbratek company and I'm working on setting up the manipulator arm for the pick-and-place task, so I need to start working for the environment around the robot arm because I will be using the MoveIt for motion planning and its functionality for my application.
But I noticed that the joint origin position for each link is not at the correct position (in this case, it should have been at the rotated joint position, but it is not). I have compared the URDF provided by the company with the panda robot URDF from moveit tutorial site. The panda robot's joint origin position shows out to be correctly positioned.
I have posted the image to compare between the umbratek utra 6-550 and pand robot URDF in this link
My question is: If the joint origin position of each link is not at the rotated joint for the manipulator arm, what could be the effect/problem when using the motion planning in MoveIt?
If more information is needed or words are not clear, please let me know
Thank you in advanced !
I haven't tested this scenario as it is unsafe. Nevertheless, I think the answer to your question is yes. The robot kinematics (forward and inverse) will be incorrect if the joint is not at the correct position.
The urdf you have is either 1) for a different model of robot, or 2) maybe you need to set some property to tell it exactly which model you have. It depends on how the manufacturer created the urdf file.