I&#39;ve answered inline,<br><br><div class="gmail_quote">On Tue, Jul 20, 2010 at 9:34 AM, Yeon Grace Lee <span dir="ltr">&lt;<a href="mailto:yeongrace.lee@gmail.com">yeongrace.lee@gmail.com</a>&gt;</span> wrote:<br><blockquote class="gmail_quote" style="margin: 0pt 0pt 0pt 0.8ex; border-left: 1px solid rgb(204, 204, 204); padding-left: 1ex;">

Hi I have a follow up question regarding spawning urdf model in gazebo. Currently, I have all the links and joints in one urdf file (I am using an xml format, not xacro, though I intend to convert from one to the other in the future). What I am wondering is if my model were to move two or more joints simultaneously, does this necessitate having separate urdf models for each part of the body? <br>

</blockquote><div><br>sorry I do not understand your question.<br> </div><blockquote class="gmail_quote" style="margin: 0pt 0pt 0pt 0.8ex; border-left: 1px solid rgb(204, 204, 204); padding-left: 1ex;">
<br>And by the way, how do you make the joints move in gazebo? Pointer to a tutorial page would help me out very much.<br></blockquote><div><br>There are at least two ways to do this, here are a couple:<br><ol><li>apply efforts directly in gazebo (example: <a href="http://www.ros.org/wiki/simulator_gazebo/Tutorials/Gazebo_ROS_API#Apply_Efforts_to_Joints_in_Simulation">http://www.ros.org/wiki/simulator_gazebo/Tutorials/Gazebo_ROS_API#Apply_Efforts_to_Joints_in_Simulation</a>)</li>

<li>using the <a href="http://ros.org/wiki/pr2_mechanism">mechanism control stack</a> (example: <a href="http://www.ros.org/wiki/pr2_simulator/Tutorials/Pendulums">http://www.ros.org/wiki/pr2_simulator/Tutorials/Pendulums</a>).  Take a look at the launch scripts in <a href="http://ros.org/wiki/pr2_examples_gazebo">pr2_examples_gazebo</a> for more details.<br>

</li></ol>John<br> </div><blockquote class="gmail_quote" style="margin: 0pt 0pt 0pt 0.8ex; border-left: 1px solid rgb(204, 204, 204); padding-left: 1ex;"><br>Thanks!<br><font color="#888888"><br>-Grace</font><div><div></div>

<div class="h5"><br><br><div class="gmail_quote">On Mon, Jul 12, 2010 at 11:31 AM, John Hsu <span dir="ltr">&lt;<a href="mailto:johnhsu@willowgarage.com" target="_blank">johnhsu@willowgarage.com</a>&gt;</span> wrote:<br>

<blockquote class="gmail_quote" style="margin: 0pt 0pt 0pt 0.8ex; border-left: 1px solid rgb(204, 204, 204); padding-left: 1ex;">For PR2, we write individual components as xacro macros, and build various robot configurations into a single urdf.  For example see attached arm urdf, utilizing various component urdf&#39;s from <a href="http://ros.org/wiki/pr2_description" target="_blank">pr2_description</a>.<br>




<br>Right now, there is no dynamic joint(constraint) creation between separate models in simulation.  If this is something that is useful, please <a href="https://code.ros.org/trac/ros-pkg/newticket" target="_blank">create a ticket</a>.<br>




<br>hope this helps,<br><font color="#888888">John</font><div><div></div><div><br><br><br><div class="gmail_quote">On Mon, Jul 12, 2010 at 6:42 AM, Nicolas Goossaert <span dir="ltr">&lt;<a href="mailto:nicolas@shadowrobot.com" target="_blank">nicolas@shadowrobot.com</a>&gt;</span> wrote:<br>




<blockquote class="gmail_quote" style="margin: 0pt 0pt 0pt 0.8ex; border-left: 1px solid rgb(204, 204, 204); padding-left: 1ex;">Hi all,<br>
<br>
last week I sent an email asking how to link 2 urdf models in Rviz, and<br>
the answer was a fixed transorm.<br>
<br>
Now I am trying to do approximately the same, but with Gazebo. Is there<br>
a similar trick to attach my hand at the end of my arm ?<br>
<br>
Cheers,<br>
<br>
Nicolas<br>
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