<robot name="blackBird">
<link name="body">
<visual>
<geometry>
<mesh filename="package://urdf_tutorial/meshes/body.dae"/>
</geometry>
<material
name="">
<color
rgba="0 1 0 1" />
</material>
</visual>
<collision>
<geometry>
<mesh filename="package://urdf_tutorial/meshes/body.dae"/>
</geometry>
</collision>
<inertial>
<mass value="0.0001"/>
<inertia ixx="0.03410357" ixy="0.00003043" ixz="0.000043960" iyy="0.003279236" iyz="0.0" izz="0.000259210"/>
</inertial>
</link> <link name="blade"> <visual> <origin rpy="0 0 0" xyz="0 0 10"/> <geometry> <mesh filename="package://urdf_tutorial/meshes/blade.dae"/> </geometry> <material name="blue"> <color rgba="0 0 0.8 1"/> </material> </visual>
<collision>
<geometry>
<mesh filename="package://urdf_tutorial/meshes/blade.dae"/>
</geometry>
</collision>
<inertial>
<mass value="0.0001"/>
<inertia ixx="0.000251114" ixy="0.000002954" ixz="0.000185428" iyy="0.003055804" iyz="0.0" izz="0.002817239"/>
</inertial>
</link>
<joint name="joint1" type="continuous">
<parent link="body"/>
<child link="blade"/>
<axis xyz="0 0 1"/>
<origin xyz="0.105987 3.12205 12.4372"/>
</joint>
</robot>
above is the urdf of model. here no matter how much i change the position of the link blade, it's position don't changes from one position.
link position not in correct position
urdf
kinetic
asked 4 mins ago dinesh gravatar image dinesh 210 ●50 ●84 ●113
<robot name="blackBird">
<link name="body">
<visual>
<geometry>
<mesh filename="package://urdf_tutorial/meshes/body.dae"/>
</geometry>
<material
name="">
<color
rgba="0 1 0 1" />
</material>
</visual>
<collision>
<geometry>
<mesh filename="package://urdf_tutorial/meshes/body.dae"/>
</geometry>
</collision>
<inertial>
<mass value="0.0001"/>
<inertia ixx="0.03410357" ixy="0.00003043" ixz="0.000043960" iyy="0.003279236" iyz="0.0" izz="0.000259210"/>
</inertial>
</link> <link name="blade"> <visual> <origin rpy="0 0 0" xyz="0 0 10"/> <geometry> <mesh filename="package://urdf_tutorial/meshes/blade.dae"/> </geometry> <material name="blue"> <color rgba="0 0 0.8 1"/> </material> </visual>
<collision>
<geometry>
<mesh filename="package://urdf_tutorial/meshes/blade.dae"/>
</geometry>
</collision>
<inertial>
<mass value="0.0001"/>
<inertia ixx="0.000251114" ixy="0.000002954" ixz="0.000185428" iyy="0.003055804" iyz="0.0" izz="0.002817239"/>
</inertial>
</link>
<joint name="joint1" type="continuous"> <parent link="body"/> <child link="blade"/> <axis xyz="0 0 1"/> <origin xyz="0.105987 3.12205 12.4372"/> </joint>
</robot>
above is the urdf of model. here no matter how much i change the position of the link blade, it's position don't changes from one position. image description
what should i do? i have placed its position in blender correctly. i'm using gazebo 9. when i place its position as 0 0 0 its position comes correctely but the joint position is at 0 0 0. so the problem is when ever i change the position of the joint the position of the blade link also chagnes. in rviz the model with joint position 0 0 0:
