set revolute joint start angle

urdf

asked 2011-05-04 02:06:54 -0500

Ugo
1620 ●20 ●34 ●48 http://www.shadowrobot.com/

I'd like to know if it's possible to set a start angle which is not 0 directly in the urdf.

By default on our arm, when all the joints are at 0, the arm is pointing down (through the floor if you import it directly in Gazebo, without attaching it to a table). It would be better if I could specify default values for the joint angles.

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answered 2011-05-04 08:56:50 -0500

hsu
5735 ●31 ●62 ●89

Hi, Please take a look at the service call gazebo/set_model_configuration in gazebo wiki to set pose of the robot. The strategy I've tested here is:

start simulation paused.
call gazebo/set_model_configuration with list of joint angles
[if holding position, trigger controller reset to set new goals]
unpause simulation

Hope this helps.

John

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You can do this entirely from launch functions, as spawn_model has an "-unpause" option

bsaund ( 2017-02-09 05:31:00 -0500 )edit

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answered 2017-12-09 18:29:50 -0500

pendragon
11 ●1 ●2 ●2

I found a way that works for me. Since there is no such xml/urdf tag for setting default values hence poses, setting the [rpy] in your origin tag kinda does the trick for me. Hope it helps someone.

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Thanks for this, it partly solved my issues! However, by editing the origin/rpy element in the joint tag, it messes up the joint range since the 0 position of the joint is now altered. I wish URDF gave us a way to configure initial joint positions... :(

JeSuisYasu ( 2020-06-16 21:02:44 -0500 )edit

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set revolute joint start angle

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