Hey, thanks for this library.
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
How to set joint origin when using pb.createMultiBody()
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Re: How to set joint origin when using pb.createMultiBody()
You can use linkPositions and linkOrientations for this. The naming is confusing, it is the joint origin/orientation with respect to the parent.
(usually the 'link frame' adds the rotation of its own joint, if any)
(usually the 'link frame' adds the rotation of its own joint, if any)