Can I set initial joint positions via URDF?

Hi,

I need to find a way to spawn my robot in Unity with custom joint positions. Is there away to do this?

Asked by adrgru on 2021-12-10 10:22:29 UTC

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Answers

AFAIK there are no tags for initial joint positions in URDF (except "hackish" way of changing 0 which you rather don't want).

You could try to work with this tutorial/documentation from Unity Robotics Hub and URDF Importer, especially part with class ArticulationBody with some basic script to setting up joints positions in your robot.

If you write more info in your answer we could try to help you more :)

Asked by ljaniec on 2021-12-10 20:00:35 UTC

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Thanks for your help, but i`ve already tried setting up joint positions via the Articulation body. But there is a problem. When I start the simulation in Unity the robot will go in the wanted position but on its way, it collides with other objects in the scene. Thats the reason why I already have to spwawn the robot in my custom position.

Asked by adrgru on 2021-12-13 05:24:06 UTC