Open h3ngy1ng opened 1 month ago
- how does mtc and rviz know joint1 corresponds to the base joint, etc.
From the URDF, which defines the kinematics as a tree. The root of the tree is the base link / joint.
- i have the below code snippet calc the total trajectory length and time but i believe it computes both linear and rotary movement of all 6 joints.
Indeed this only computes path length in joint space. Have a look at the existing cost functions instead:
PathLength
: joint-space path lengthTrajectoryDuration
LinkMotion
: Cartesian-space path length
[rookie] ive a robot arm of 6 joints and would like to know:
how do i verify mtc and rviz are reading the last joint (joint 6) as end-effector joint and get the travel (trajectory) length, time of specified joint.