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animating only a single link

asked 2016-10-12 23:50:43 -0500

jys gravatar image

updated 2016-10-20 16:47:36 -0500

I have a robot that sits on tops of a box connected by a fixed joint. I would like to animate only the box but when I follow animate box tutorial and animate it, it does move the box correctly but the robot has an erratic behavior of joints getting disconnected.

It seems to try to move all links to that location or something like that. Is that correct? Is there a way to animate only a specific link and let the rest follow the law of physics? Or, should I use something else to achieve this?

(I am using ROS indigo and the version of gazebo that comes with it)


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answered 2016-10-20 16:59:36 -0500

nkoenig gravatar image

Animation operates outside of the physics engine and will cause the behavior you are seeing.

You can write a controller that applies a force to the box in order to move it.

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Asked: 2016-10-12 23:50:43 -0500

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Last updated: Oct 20 '16