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Can I set initial joint positions via URDF?

asked 2021-12-10 09:22:29 -0600

adrgru gravatar image


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

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answered 2021-12-10 19:00:35 -0600

ljaniec gravatar image

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 :)

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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.

adrgru gravatar image adrgru  ( 2021-12-13 04:24:06 -0600 )edit

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Asked: 2021-12-10 09:22:29 -0600

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Last updated: Dec 10 '21