How can I model hydraulic joints in a urdf?

I'm trying to build a urdf for an excavator like arm. There is a hydraulic linear actuator that attaches to a boom slightly offset from a fulcrum point on the boom. The actuator can operate the boom like a lever.

Is there a way to model this kind of join with a urdf?

Asked by lexi on 2023-01-11 18:36:14 UTC

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Answers

Fundamentally a combination of prismatic and revolute joints should help you model everything. This answer should help you model a prismatic joint. A schematic of your design would be helpful for more specific answers.

Asked by Gaurav Gupta on 2023-01-12 04:01:26 UTC