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GjermundOstensvig / VisualizingRobotConsepts

This repo. was made to visualize robot consepts like Kinomatics and ROS.
MIT License
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joinr_1 frame does not match Haris' setup in RoboDK #18

Closed GjermundOstensvig closed 10 months ago

GjermundOstensvig commented 10 months ago

image image

GjermundOstensvig commented 10 months ago

There seems like several frames are incorrectt in the .urdf file.

GjermundOstensvig commented 10 months ago

This commit makes sure all joints rotate around their z axis: f59103610522ba9099491ab32c1ad2dee4aa8e2d It also makes an attempt to match the frames set in the Lab exercise. I'm still not sure if it's spot on. In the Lab exercise, there seems to be a frame at the end of link_6. image It seems like the origin frame of each part is visualized in RoboDK, whereas in ROS, we only visualize the frame representing the joint, and then the link meshes are just placed w.r.t. thise joint frames using the <origin> tag. image I'm closing this issue for now. There may be more hickups when I'll be solving the IK.