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Support for SDF? #540

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Nate711 opened this issue Feb 4, 2019 · 3 comments
Open

Support for SDF? #540

Nate711 opened this issue Feb 4, 2019 · 3 comments

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@Nate711
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Nate711 commented Feb 4, 2019

Hi, does RigidBodyDynamics.jl support extracting dynamics from SDF files?
@tkoolen
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tkoolen commented Feb 4, 2019

Not currently, no. It's been in the back of my mind for a while, but it's not a super high priority item for me personally right now. A PR would be most welcome!

@Nate711
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Nate711 commented Feb 9, 2019 •
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Thanks for the info!

@tkoolen
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tkoolen commented May 17, 2019

I started exploring SDF support a bit, but I found that the behavior of SDF's <frame> tags is currently very ill-defined. I think I'm going to wait at least until a proposal to address this, https://bitbucket.org/osrf/sdf_tutorials/pull-requests/7/pose-frame-semantics-proposal-for-new/diff, has been merged; the proposed specification, http://sdformat.org/tutorials?branch=pose_frame_semantics_proposal&tut=pose_frame_semantics_proposal, looks a lot more sensible.

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