Can we fix the robot base to the world about a given axis?

fixes the base to the world. Can we fix the robot motion only about specific axis?

Asked by sapanostic on 2018-07-20 14:38:15 UTC

Comments

I'm confused. Do you want to make a joint between your the world frame and your robot??

Asked by wentz on 2018-07-23 07:04:29 UTC

Answers

Yup, just change the joint type to continuous and give it an <axis>. See the URDF documentation here.

Asked by chapulina on 2018-07-20 15:04:28 UTC

Comments

By fixing I mean, I want the base_link not to rotate about Z axis.

Asked by sapanostic on 2018-07-22 19:57:00 UTC

You'll have to see exactly which motion you want to allow and constrain all other axes with a combination of prismatic and revolute joints.There isn't a joint type which allows translation on all 3 axes and rotation on XY while constraining Z at the same time.

Asked by chapulina on 2018-07-23 11:08:56 UTC