Real-Time Physics Simulation Forum 2020-02-21T21:05:05+00:00 https://pybullet.org/Bullet/phpBB3/app.php/feed/topic/12860 2020-02-21T21:05:05+00:00 2020-02-21T21:05:05+00:00 https://pybullet.org/Bullet/phpBB3/viewtopic.php?p=42636#p42636 <![CDATA[Re: How to set joint origin when using pb.createMultiBody()]]> (usually the 'link frame' adds the rotation of its own joint, if any)

Statistics: Posted by bullet_team — Fri Feb 21, 2020 9:05 pm

]]> 2020-02-02T21:40:32+00:00 2020-02-02T21:40:32+00:00 https://pybullet.org/Bullet/phpBB3/viewtopic.php?p=42607#p42607 <![CDATA[How to set joint origin when using pb.createMultiBody()]]>
I'm trying to use the pb.createMultiBody() function to create a basic robot system. As an example I'm trying to recreate the cartpole example from the cartpole.urdf file in some of the examples. I can get the prismatic joint working fine, but I can't get the pole to rotate around the block. Instead it rotates around its centre of mass, a bit like a propeller.

I've been looking through the docs for the Quickstart guide and the pb.createMultiBody() function but I can't see how you pass in the joint origin. In the urdf its the variable in bold:

<joint name="cart_to_pole" type="continuous">
<axis xyz="0 1 0"/>
<origin xyz="0.0 0.0 0"/>
<parent link="cart"/>
<child link="pole"/>
</joint>

Any advice?

Regards, Matt

Statistics: Posted by mcarr — Sun Feb 02, 2020 9:40 pm

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