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Question Locking ArticulationBody joint in position

Discussion in 'Robotics' started by shemnor_Atkins, Mar 3, 2022.

  1. shemnor_Atkins


    Jun 28, 2021

    Im hoping to implement a locking mechanism on joints that are not being driven by the controller. The idea is to lock the arm in its idle position, and unlock joints when a drive command is triggered.

    I tried using AtriculationDofLock (shown below) but this doesn't seem to have any effect. Increasing the .jointFriction property to very high value does not reach a full lock. Is there a way to lock an ArticulationBody joint in position? Thanks!

    Code (CSharp):
    2. public ArmArticulationChain aac;
    3. public ArticulationBody[] joints;
    5. private void lockAllJoints(RroboEnums.DigitalTwinState state)
    6.         {
    7.             if (state == RroboEnums.DigitalTwinState.Idle)
    8.             {
    9.                 for (int i = 0; i < dof; i++)
    10.                 {
    11.                     aac.joints[i].swingYLock = ArticulationDofLock.LockedMotion;
    12.                     aac.joints[i].swingZLock = ArticulationDofLock.LockedMotion;
    13.                     aac.joints[i].twistLock = ArticulationDofLock.LockedMotion;
    14.                 }
    15.             }
    16.         }