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mimic joint will not initialize dynamics solver #8

Open zp2546265641 opened 3 months ago

zp2546265641 commented 3 months ago

[ERROR] [1719833344.944049040]: Group 'l_index' has a mimic joint. Will not initialize dynamics solver [ERROR] [1719833344.944094085]: Group 'l_middle' has a mimic joint. Will not initialize dynamics solver [ERROR] [1719833344.944109945]: Group 'l_pinkly' has a mimic joint. Will not initialize dynamics solver [ERROR] [1719833344.944119533]: Group 'l_ring' has a mimic joint. Will not initialize dynamics solver [ERROR] [1719833344.944127728]: Group 'l_thumb' has a mimic joint. Will not initialize dynamics solver [ERROR] [1719833344.944257012]: Group 'r_index' has a mimic joint. Will not initialize dynamics solver [ERROR] [1719833344.944266710]: Group 'r_middle' has a mimic joint. Will not initialize dynamics solver [ERROR] [1719833344.944276679]: Group 'r_pinkly' has a mimic joint. Will not initialize dynamics solver [ERROR] [1719833344.944283121]: Group 'r_ring' has a mimic joint. Will not initialize dynamics solver [ERROR] [1719833344.944289653]: Group 'r_thumb' has a mimic joint. Will not initialize dynamics solver my moveit demo.launch file gives such error, but i do not know which cause it. do you know something about such error?

i use such plugin in urdf as follows

  <joint name="L_thumb_intermediate_joint" type="revolute">
      <origin xyz="0.04407 -0.034553 -0.0008" rpy="0 0 0" />
      <parent link="L_thumb_proximal" />
      <child link="L_thumb_intermediate" />
      <axis xyz="0 0 -1" />
      <limit lower="0" upper="0.8" effort="1" velocity="0.5" />
      <mimic joint="L_thumb_proximal_pitch_joint" />
      <!-- multiplier="1.6" offset="0" -->
  </joint>
.....................
 <gazebo>
        <!-- loading plugin: mimic joints works in gazebo now -->
        <plugin filename="libroboticsgroup_upatras_gazebo_mimic_joint_plugin.so.so" name="mimic_1">
            <joint>L_thumb_proximal_pitch_joint</joint>
            <mimicJoint>L_thumb_intermediate_joint</mimicJoint>
            <multiplier>1.6</multiplier>
            <offset>0.0</offset>
        </plugin>
        <plugin filename="libroboticsgroup_upatras_gazebo_mimic_joint_plugin.so.so" name="mimic_2">
            <joint>R_thumb_proximal_pitch_joint</joint>
            <mimicJoint>R_thumb_intermediate_joint</mimicJoint>
            <multiplier>1.6</multiplier>
            <offset>0.0</offset>
        </plugin>
        <plugin filename="libroboticsgroup_upatras_gazebo_mimic_joint_plugin.so.so" name="mimic_3">
            <joint>L_thumb_proximal_pitch_joint</joint>
            <mimicJoint>L_thumb_distal_joint</mimicJoint>
            <multiplier>2.40</multiplier>
            <offset>0.0</offset>
        </plugin>
        ^^^^^^^^^^^^^^^^^^^^
     </gazebo>
  what's more, i have set the mimic joints such as

L_thumb_intermediate_joint

as passive joints in moveit.just because:https://answers.ros.org/question/220354/error-group-has-mimic-joint-will-not-initialize-dynamics-solver/ but i have not seen some helpful solutions! i hope some help! Thanks very much!