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Is there a floating joint in Gazebo?

asked 2019-10-18 03:00:49 -0500

kumpakri gravatar image

URDF description of the robot allows to specify a 'floating' joint -- a joint with 6 degrees of freedom. But when the robot description gets translated into SDF, the floating joint is converted into fixed joint. Is there a way how to achieve a floating joint in Gazebo? I want to completely control the child link's movement with my plugin.

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Hi, did you figure out a way to do 6DOF pose control of a robot model in Gazebo?

awck gravatar imageawck ( 2020-12-04 09:40:04 -0500 )edit

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answered 2019-10-18 03:26:49 -0500

chapulina gravatar image

A floating joint in Gazebo (SDF) is just no joint ๐Ÿ˜‰

Unlike URDF, links in SDF can just exist as children of the robot model without being connected to each other in a tree structure.

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Asked: 2019-10-18 03:00:49 -0500

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Last updated: Oct 18 '19