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Is it possible to mimic two joints combined ?

asked 2018-11-01 04:18:30 -0500

BhanuKiran.Chaluvadi gravatar image


I have a couple of closed loop mechanisms connected in which there is rotary joint A, B and a prismatic joint C . Joint A should mimic joint B&C combined.

something like this A = B + 0.5*C

Is this possible in URDF mimic tag ? bit confused.

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answered 2018-11-01 04:22:23 -0500

gvdhoorn gravatar image

From the documentation:

The value of this joint can be computed as value = multiplier * other_joint_value + offset.

So no, referring to two joints is not supported right now.

You may be able to do something with transmission, but I'm not sure.

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Asked: 2018-11-01 04:18:30 -0500

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Last updated: Nov 01 '18