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Currently Phobos only supports single degrees of freedom joints. In my models it is essential to have multiple degrees of freedom. From a robotics points of view it is understandable to have single DOF since they represent motors. But I am working on more abstract simulation models which would require multi DOF joints.
Describe the solution you'd like
To support all the joints described in SDF format.
[http://sdformat.org/spec?ver=1.6&elem=joint]
The text was updated successfully, but these errors were encountered:
I encountered the same issue regarding ball joints.
As of now, there are three joints missing for the SDF format (Cf. joints section):
ball: 3 rotational degrees of freedom
screw: 1 coupled rotational/translational degree of freedom
universal: 2 rotational degrees of freedom
As Phobos is mainly based on URDF it explains the lack of such joints.
What would be the ideal solution in that case ?
On the one hand, adding all the SDF joints types would resolve the issue, but on the other hand they would be useless and not exported for the URDF format.
It looks that you can build up a ball joint/spherical joint by composing fixed and continuous joints (Cf. this discussion). Maybe it would be possible to convert automatically the ball joint into the four equivalent joints in case of a URDF export.
Do not change anything and let the user create its own ball joint the way I mentionned before, but adding it somewhere in the documentation for the kinematic skeleton.
Adding a ball joint is no problem, exporting it to URDF will lead to an error message, so that the user has to take care of it. I'll update this when I found time to tackle this.
The other two need some more changes, especially the coupling of the screw joint. This will rather happen in a later iteration.
Currently Phobos only supports single degrees of freedom joints. In my models it is essential to have multiple degrees of freedom. From a robotics points of view it is understandable to have single DOF since they represent motors. But I am working on more abstract simulation models which would require multi DOF joints.
Describe the solution you'd like
To support all the joints described in SDF format.
[http://sdformat.org/spec?ver=1.6&elem=joint]
The text was updated successfully, but these errors were encountered: