Proposal for Mimic Constraint Feature #62
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Signed-off-by: Steve Peters <[email protected]>
Signed-off-by: Steve Peters <[email protected]>
Signed-off-by: Steve Peters <[email protected]>
scpeters
commented
Oct 9, 2021
9 tasks
* mimic tag to be used with output joint
scpeters
changed the title
Propose a new constraint, not joint type Target 1.10, libsdformat13 Use XML elements instead of attributes for numeric params Signed-off-by: Steve Peters <[email protected]>
Signed-off-by: Steve Peters <[email protected]>
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If a joint wants to mimic an axis of a multi-axis joint, like a universal joint, I wonder how we should specify that? Currently in that case, perhaps the attribute should be |
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Since the second tag is called Seems the easiest to me personally. |
Also mention that XPath syntax is used. Signed-off-by: Steve Peters <[email protected]>
scpeters
changed the title
Signed-off-by: Steve Peters <[email protected]>
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I just added a |
Added to implementation here : gazebosim/gz-physics@943740c |
Signed-off-by: Steve Peters <[email protected]>
Signed-off-by: Steve Peters <[email protected]>
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this is ready for review |
Signed-off-by: Steve Peters <[email protected]>
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Signed-off-by: Steve Peters <[email protected]>
* add description * use world as the joints' parent * fix rack pose to avoid overlap Signed-off-by: Steve Peters <[email protected]>
Signed-off-by: Steve Peters <[email protected]>
azeey
reviewed
Aug 22, 2023
Signed-off-by: Steve Peters <[email protected]>
azeey
approved these changes
Aug 23, 2023
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This proposal suggests a new
mimicconstraint that is functionally similar to thegearboxjoint type but simpler to express and more flexible. It is targeted at SDFormat 1.11 / libsdformat14.The proposal is ready for review:
Preview: http://sdformat.org/tutorials?tut=mimic_proposal&cat=pose_semantics_docs&branch=scpeters%2Fmimic_joint_proposal
Related pull requests:
sdfelement sdformat#1166