Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Set Frame for Revolute/Prismatic Joints #271

Open
dmklee opened this issue Apr 11, 2024 · 0 comments
Open

Set Frame for Revolute/Prismatic Joints #271

dmklee opened this issue Apr 11, 2024 · 0 comments
Labels
enhancement New feature or request

Comments

@dmklee
Copy link

dmklee commented Apr 11, 2024

I would like to create joints where the joint frame is translated and rotated w.r.t. the parent body frame. Similar to how joints can be defined in a URDF.

Fixed joints already allow this, and this PR extends the capability for spherical joints in rust. I tried modifying Generic Joint to accept arguments for frame1 and frame2 but I was not able to get it to work. I believe this snippet of code automatically converts generic joints to prismatic/revolute/etc based on the locked axes, so the resulting joint doesnt end up using the frames I specified.

There is a similar request to allow for different axis in this issue.

@Vrixyz Vrixyz added the enhancement New feature or request label Jun 3, 2024
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Labels
enhancement New feature or request
Projects
None yet
Development

No branches or pull requests

2 participants