Hi Grace,
I wanted to add that unfortunately our current simulation platform does
not allow chained joints. We are looking into ways to make this happen.
John
Grace Lee,
The best way to create joints with multiple DOF is to chain multiple 1
DOF joints together. The links between the 1 DOF joints can just be
empty placeholders that only have a name, but don't have an inertia
etc. So, for example, if you want to create a 2 DOF link between
'link1' and 'link2', you can use:
<link name="link1" />
<joint name="joint1">
<parent link="link1"/>
<child link="link_virtual" />
</joint>
<link name="link_virtual" />
<joint name="joint2" >
<parent link="link_virtual" />
<child link="link2" />
</joint>
<link name="link2" />
Wim
--
On Wed, Jun 23, 2010 at 5:33 PM, Yeon Grace Lee <yeongrace.lee@gmail.com> wrote:
> Hello!
>
> I am writing an urdf for a human model and I am looking for the
> cleanest way of allowing rotation along multiple axis. For example,
> human head can tilt and pan- I plan to model this by making two
> revolute joints - but only one joint is allowed between two links? I
> am considering making a new set of links for each movement but I have
> doubts as to whether this is the most optimal way. And I am not quite
> sure where to place these new links (should I hide them inside
> overlapping set of links?). Please let me know if you know a better
> way of allowing multiple movements between two links.
>
> Thank you in advance!
>
> Grace Lee
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--
Wim Meeussen
Willow Garage Inc.
<http://www.willowgarage.com)
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