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Robot initial configuration

asked 2013-11-22 08:59:15 -0600

Hi, is possible to change the robot initial configuration specifying the joint values?

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answered 2014-02-26 02:24:29 -0600

ahb gravatar image

updated 2014-02-28 02:07:24 -0600

I now have exactly the same problem. In my case the UR5 robot's 'home position' is defined as (0, -PI/2, 0, -PI/2, 0, 0). I have to initialize the SDF model in this home position, otherwise there will be collisions etc.

Would it be possible to add a <initial> tag to the SDF's <joint> tag, in order to specify the initial position?

I created a proposal to keep track of this feature request.

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answered 2014-02-28 12:32:14 -0600

Andrea gravatar image

Hi, why don't you write a simple plugin and set the position of the joints during the load? In my opinion it may solve your problem

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Copy&Paste from the proposal: "My proposal is to have a "<initial>" tag within <joint> that allows to spawn the model with this joint setting as initial value. Setting <initial> to a value != 0 would already alter the way the model is shown when adding it to a world, i.e. before it is registered to physics and before its plugin code is run. In other words the <initial> tag should in this regard behave exactly the same as if the joint's origin where shifted to the initial value."

ahb gravatar imageahb ( 2014-03-02 06:57:04 -0600 )edit

Ok, I undestand what you proposed, but I tried to solve the problem. I mean, the feature is not implemented yet, therefore a workaround is needed at the moment. Obviously when the feature is available I do not see why he should not use it ;)

Andrea gravatar imageAndrea ( 2014-03-04 10:30:33 -0600 )edit

answered 2013-12-26 09:17:07 -0600

No one has this problem?

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Hello, i do have the same problem. I want to spawn the UR5 in an initial pose. Is this obsolet for you? Did you solve it?

J_Schaefer gravatar imageJ_Schaefer ( 2016-07-19 04:21:50 -0600 )edit
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Asked: 2013-11-22 08:59:15 -0600

Seen: 1,216 times

Last updated: Feb 28 '14