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Joint origin vs Link origin

asked 2018-03-11 10:15:16 -0500

sezan92 gravatar image

Hello. I was building a Xacro model for a robotic arm in Gazebo. I am confused about the origin tags of link and joint. What is the difference ? how can I determine the perfect values for both ?

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answered 2018-03-12 04:06:51 -0500

Delb gravatar image

You should "play" with a simple urdf to see what's the difference.

It's all about the tf, with the origin tag of the joint you define where is the tf and with the origin of the link you define where your object is according to your tf. Here's an exemple :

The joint tag origin is 0 0 0 but the origin of the link1 is 0 0 1(and you can see the tfs are at the same position) :

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Here I set the joint tag origin to 0 0 1 and the origin of the link1 is 0 0 0 :

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The link1 is at the same position in both case but the tf isn't. It comes in consideration when you have different type joints if you don't correctly define the tfs some rotations or translations could not behave as expected.

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answered 2018-03-11 10:41:17 -0500

Airuno2L gravatar image

Have you seen the URDF tutorials?

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yes. It is not clear , what should be values of joint origin and link origin. more importantly, reference frame for both origins are not clear at all

sezan92 gravatar image sezan92  ( 2018-03-11 10:42:29 -0500 )edit

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Asked: 2018-03-11 10:15:16 -0500

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Last updated: Mar 12 '18