Attach UR10 to transporter error

[ddbw]

Hi, I want to attach the UR10 to transporter.
I have set the UR10’s rootJoint, but somehow the shoulder of the UR10 dropped.
Could someone give me a solution to this situation?

And this is my usd file: wrong.usd (3.3 KB)

[toni.sm]

Hi @ddbw

This post may be helpful

Merging wheeled robot with UR10

Hi, There is a third option, but first lets discuss the two you propose. I would avoid the fixed joint method. The main reason for using a fixed joint in a simulation is the case where you would like to break the fixed joint during the simulation. If you don’t plan to break the joint, you are better off combining the two meshes that would be jointed together into a single rigid body with multiple collision shapes. I like Option 2 the best from a workflow perspective, because CAD offers the be…

I tried the third option by inserting the ur10.usd as sublayer (right click on the .usd file → Insert as Sublayer) to be able to dragging the manipulator assembly into the hierarchy for the wheeled robot. However, because I could not model the base of the manipulator and the platform to which it is attached as a single rigid body with multiple collision shapes, I added a fixed joint between the chassis and the base_link prims.

Some help from @rgasoto / @MikePhysX will be welcome

[ddbw]

Wow, it works! Thanks!!!