how to put initial conditions of position and velocity [closed]

asked 2012-01-06 06:48:41 -0600

maruchi gravatar image


Could anyone know how to set the initial conditions of position and velocity in urdf ?

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Closed for the following reason question is not relevant or outdated by tfoote
close date 2013-04-29 20:56:01


You should precise your question. In the URDF you describe the robot itself with its inner joints in it's zero'ed state. Its position and velocity inside the world has nothing to do with URDF and is made up through tf, usually through mapping if not manual.
felix k gravatar image felix k  ( 2012-01-06 08:15:53 -0600 )edit
Felix, do you mean that I can set the initial condition in world file ?
maruchi gravatar image maruchi  ( 2012-01-12 04:33:30 -0600 )edit