Robot initial configuration

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

Asked by Enrico Mingo on 2013-11-22 09:59:15 UTC

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Answers

No one has this problem?

Asked by Enrico Mingo on 2013-12-26 10:17:07 UTC

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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?

Asked by J_Schaefer on 2016-07-19 04:21:50 UTC

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 tag to the SDF's tag, in order to specify the initial position?

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

Asked by ahb on 2014-02-26 03:24:29 UTC

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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

Asked by Andrea on 2014-02-28 13:32:14 UTC

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Copy&Paste from the proposal: "My proposal is to have a "" tag within that allows to spawn the model with this joint setting as initial value. Setting 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 tag should in this regard behave exactly the same as if the joint's origin where shifted to the initial value."

Asked by ahb on 2014-03-02 07:57:04 UTC

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 ;)

Asked by Andrea on 2014-03-04 11:30:33 UTC