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Is there an example of a revolute2 (double hinge) joint used in an SDF?

asked 2017-06-22 10:39:44 -0600

dbrodeur gravatar image

updated 2017-06-22 10:40:20 -0600

I am looking for an example about how to use a revolute2 joint. I do not find any in tutorials. Only simple hinges.

I am a bit confused about who is the child and who is the parent link (suppose a car steering wheel) and how are both axes <xyz> values in the same reference frame?

Thank you,

David

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answered 2017-06-22 11:12:39 -0600

sloretz gravatar image

The Demo Joint Types model includes an example of a revolute2 joint. The revolute2 joint behaves like two revolute joints in series with a zero-length link between them.

I'm not confident about this, but I think the first axis is relative to the <parent>, and the second axis is relative to the <child>.

When you say car steering wheel do you mean the wheel someone puts their hands on to steer the car, or one of the steerable wheels that rolls on the ground? If the former I would use a revolute joint instead of a revolute2 joint since there's only one axis it can rotate on. If the latter I would make the car body the parent and car tire the child, because the joint pose would be in the center of the wheel by default.

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Thanks for the Demo Joint Types! That should help me. About the steering wheel, I meant the latter option. I am trying to do an updated version of the mobile_robot tutorial using revolute2 joints. Just to understand better this type of joints. Thanks again for the demo joint types model.

dbrodeur gravatar imagedbrodeur ( 2017-06-26 06:46:25 -0600 )edit

@dbrodeur any luck controlling the revolute2 joint ? I'm trying to build a car and the front wheels need to rotate in two axes obviously. Tho, in my plugin it seems im not able to control any of the axes ... If i try to set the position using JointPtr->SetPosition(index, value) with various indexes, they all return false.

wicked88 gravatar imagewicked88 ( 2017-08-16 14:44:40 -0600 )edit
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Asked: 2017-06-22 10:39:44 -0600

Seen: 709 times

Last updated: Jun 22 '17