What is joint? #55
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I was wondering what are joints for robot? is it the gripper position or the position between gripper and arm? |
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Replies: 1 comment 3 replies
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Joint means the actuable parts on the robot. Every part that can move is a joint. For example the Stretch robot has a joint in the connector of the gripper and arm, and also multiple joints on the arm itself that can expand and contract. |
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got it, but when I want to expand the arm, I can't find joint_id, I try to print but the joint_id is not 0 to 8 (if there are 8 movable joints), is there any ways to get the joint_id for different part of the robot? (like the joint_id for gripper, and joints for arm expand) |
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The joint position is basically a list with num_joint elements, each stands for a joint position for a joint, starting from the robot base. It's not like a robot that has its own ID. |
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hi, sorry for interupt, but I spent tons of work try to rotate a joint but it just doesn't work. Could you show me a demo command or what to let a gripper joint rotate for 90 degrees? |
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The joint position is basically a list with num_joint elements, each stands for a joint position for a joint, starting from the robot base. It's not like a robot that has its own ID.