Everything you wrote looks correct. Are you having trouble with how
the model looks, or is it a problem with how it moves?

-David!!

(I am not familiar with openRAVE)

2010/10/31 Kyu - Young Kim <kky1638@hotmail.com>:
> Hi,
> I am working on urdf/gazebo and openRAVE and having trouble with setting the
> correct offsets.
> I feel like I am not understanding how offsets work on urdf and would
> appreciate your help :)
> Here is how I understood from urdf tutorials:
> - A joint links a child link to a parent link
> - origin of child link is the same as that of the joint
> (so if you have 0 0 0 for child link then it has the same origin as the
> joint)
> - the offset you specify for the joint is respect to the origin of the
> parent link
> and the offset for the child link is respect to the origin of the joint
> This is basically how I understood it, but I am having trouble joining
> different links at the correct places.
> Can someone explain/correct/clarify to me how offsets work on urdf and
> whether it works differently from openRAVE.
> Thank you,
> Kyu-Yo ung
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