Ask Your Question

OEP's profile - activity

2021-05-11 03:50:52 -0600 received badge  Good Question (source)
2014-02-21 02:18:01 -0600 received badge  Taxonomist
2012-08-16 03:01:44 -0600 received badge  Famous Question (source)
2012-08-16 03:01:44 -0600 received badge  Popular Question (source)
2012-08-16 03:01:44 -0600 received badge  Notable Question (source)
2012-02-15 09:51:05 -0600 received badge  Nice Question (source)
2012-02-15 04:24:18 -0600 received badge  Organizer (source)
2012-02-15 04:18:30 -0600 commented answer What does the actuator name for URDF reference?

Thank you for your answer. I am conducting research on robot models and URDF was one of the existing models I looked at. Naturally, it was bugging me that I couldn't figure out where those actuators were defined, hence the question! :)

2012-02-15 04:13:41 -0600 received badge  Scholar (source)
2012-02-15 04:13:39 -0600 received badge  Supporter (source)
2012-02-14 20:12:49 -0600 received badge  Student (source)
2012-02-14 08:18:56 -0600 received badge  Editor (source)
2012-02-14 08:18:03 -0600 asked a question What does the actuator name for URDF reference?

For this question I am using the code sample provided at the documentation:

http://www.ros.org/wiki/urdf/XML/Transmission

<transmission type="SimpleTransmission" name="caster_front_left_trans">
  <actuator name="caster_front_left_motor" />
  <joint name="caster_front_left_joint" />
  <mechanicalReduction>1</mechanicalReduction>
</transmission>

I understand for the most part what most of the names refer to, but I am still puzzled as to what exactly the function of the actuator name is. I did my best to grep through the shipped packages, but with no luck. Does the name reference something external to the robot model? What does it reference?

I suppose I should note I was looking at the PR2's URDF description and grepping for its actuator name(s).

Thanks for any help!