heethesh's profile - activity

Nope. You could try adding a dummy joint to make it a 6DOF manipulator and then try solving IK using KDL plugin.

Unable to plan IK using MoveIt! I'm using the LMA kinematics plugin to plan motion for a 6DOF arm. I'm able to use the i

Unable to plan IK using MoveIt! I'm using the LMA kinematics plugin to plan motion for a 6DOF arm. I'm able to use the i

Thanks a lot. This is very helpful.

I am trying to simulate my mobile robot with a 5DOF arm. I came across the IKFast tutorial which mentions that I need a dummy link in my URDF. However, I am confused as to how to introduce this dummy link in my URDF. Some examples use a fixed joint between the world link and the robot chassis. If I create a dummy link and and a fixed joint to my robot chassis, will it be mobile? Should I use a planar joint? Here, base_link is my chassis (gray colored in the image below).

Here is IKFast tutorial which I am referring to. Also I get a similar error while using KDL as mentioned in this unsolved post.

Is this the right way to do it? Are my dummy joint parameters right? My current URDF file without dummy links here.

<link name="world">

<link
    name="base_link">
    <inertial>
        <origin
        ...
        <mass
        ...
        <inertia
        ...
    </inertial>
    <visual>
    ...
    </visual>
    <collision>
    ...
    </collision>
</link>

<joint
    name="dummy_joint"
    type="fixed">
    <origin
        xyz="0 0 0"
        rpy="0 0 0" />
    <parent
        link="world" />
    <child
        link="base_link" />
    ...
</joint>

<link
    name="wheel_front_left_link">
    <inertial>
    ...
    </inertial>
    <visual>
    ...
    </visual>
    <collision>
    ...
    </collision>
</link>

<joint
    name="wheel_front_left_joint"
    type="continuous">
    ...
</joint>

What is the correct way to introduce a dummy link in URDF? I am trying to simulate my mobile robot with a 5DOF arm. I ca

Updated the post with links.

What is the correct way to introduce a dummy link in URDF? I am trying to simulate my mobile robot with a 5DOF arm. I ca

What is the correct way to introduce a dummy link in URDF? I am trying to simulate my mobile robot with a 5DOF arm. I ca

What is the correct way to introduce a dummy link in URDF? I am trying to simulate my mobile robot with a 5DOF arm. I ca

What is the correct way to introduce a dummy link in URDF? I am trying to simulate my mobile robot with a 5DOF arm. I ca

ThanksI Yeah that was the issue. The window is opening now. However the joint detection is incorrect. Revolute joints ar

SW2URDF Preview and Export is taking too long to open Solidworks 2017 Using the latest URDF exporter plugin When I clic

SW2URDF Preview and Export is taking too long to open Solidworks 2017 Using the latest URDF exporter plugin When I clic

SW2URDF Preview and Export is taking too long to open Solidworks 2017 Using the latest URDF exporter plugin When I clic