Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

Revision history [back]

I have added a mimic element with a few small modifications to the URDF to get the arm to move as I think you want it to. I forked your git with the modifications to the URDF made. I believe your issue is that when you change the angle of the shoulder, it also changes the angle of the elbow. Please let me know if it fixed it. Sorry it took a year for someone to try to help you.

ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.