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Can I change link properties (length and pose) at run time?

Hi,

I want to model a closed chain robot which needs to have length-variable links(length ratio over 1:10), but it's first time using gazebo,, so I don't know whether its possible or not. If you know how to deal with this length-variable links. Please help me.

Asked by byungheon on 2017-11-28 23:11:13 UTC

Comments

How about using a prismatic joint which moves to expand the arm?

Asked by chapulina on 2017-11-29 11:27:52 UTC

Answers

In the c++ api of gazebo, there is a SetScale method for the "Link" class. I suppose that it should do what you want. (the solution mentionned by @chapulina may be a good way to do it if the SetScale method doesn't work as you want)

And there is a SetRelativePose method to change the pose of the link.

http://osrf-distributions.s3.amazonaws.com/gazebo/api/dev/classgazebo_1_1physics_1_1Link.html#a275d552d716464ca0e98ef898f74aaf9

Asked by Brosseau.F on 2017-11-30 09:06:50 UTC

Comments

^ These might be better if you want to change a large number (10+) of link properties! Adding lots of extra joints to your model is going to slow things down noticeably...

Asked by josephcoombe on 2017-11-30 18:57:14 UTC