Thank you,
That placed the cylinder correctly. However, I still have the rotation
problem.
If in the joint, , the cylinder rotates around the z
axis. When I set it to , it rotates around the y axis
as I want it to, but the whole robot also jumps and rotates and falls to
its side...
Kirila
Adolfo Rodríguez Tsouroukdissian wrote:
> On Tue, Jun 1, 2010 at 3:32 PM, Kirila Adamova > wrote:
>
> Hi all,
>
> I am currently writing a 3D model in urdf. I have two cylinders, which
> are connected with a joint. The second cylinder, however, is
> rotated and
> can be rotated further in the same direction. When I visualize them in
> gazebo, the joint is in the center of the second cylinder. Is there a
> way to make it at the end of the cylinder because that is the point
> around which I need to rotate it. To make it more clear (or even more
> confusing), here is sample code:
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> Currently, the axis xyz is set to z, although it needs to be y,
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> when it's set somewhere else, the whole model goes crazy (jumps and
> turns around) in gazebo.
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> Kirila,
>
> The cylinder primitive makes its center coincide with the
> corresponding origin (visualization, collision) and is aligned with
> the z axis. For your robot, it should suffice to specify an
> appropriate origin for your visualization and collision geometries
> (with respect to the joint origin). For more details refer to the
> available documentation:
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> http://www.ros.org/wiki/urdf/XML/Link
> http://www.ros.org/wiki/urdf/XML/Joint
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> HTH,
>
> Adolfo
>
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> Help will be greatly appreciated,
>
> Kirila
>
> p.s. End result must rotate the second cylinder around the point
> between
> the two cylinders around the y axis.
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>
>
>
> --
> Adolfo Rodríguez Tsouroukdissian, Ph. D.
>
> Robotics engineer
> PAL ROBOTICS S.L
> http://www.pal-robotics.com
> Tel. +34.93.414.53.47
> Fax.+34.93.209.11.09
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