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Add support for reduced coordinate articulations #14851

Closed
3 tasks done
Tracked by #15221
hultonha opened this issue Feb 28, 2023 · 1 comment
Closed
3 tasks done
Tracked by #15221

Add support for reduced coordinate articulations #14851

hultonha opened this issue Feb 28, 2023 · 1 comment
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feature/physics This item is related to the physics subsystem. feature/robotics This item is related to robotics. feature-need/immediate Feature: Immediate. Must be actively worked on as someone's top priority right now. kind/feature Categorizes issue or PR as related to a new feature. kind/roadmap Categorizes an issue that goes in the O3DE Public Roadmap sig/simulation Categorizes an issue or PR as relevant to SIG Simulation triage/accepted Indicates an issue or PR is ready to be actively worked on.

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@hultonha
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hultonha commented Feb 28, 2023 •
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Summary

To deliver a robust and stable robotic arm/manipulator solution, articulation support needs to be added to O3DE. Reduced coordinate articulations are required for robotics simulation.

Initially hinge and prismatic joint types will be supported with reduced coordinate articulations.

Why

  • Articulations are incredibly important for robotics.
  • Articulation support is improved in PhysX 5 (optimized and improved performance).
  • Reduced coordinated provide better stability than using joints.

Progress
@hultonha hultonha added feature/physics This item is related to the physics subsystem. needs-triage Indicates an issue or PR lacks a `triage/foo` label and requires one. kind/roadmap Categorizes an issue that goes in the O3DE Public Roadmap sig/simulation Categorizes an issue or PR as relevant to SIG Simulation feature/robotics This item is related to robotics. labels Feb 28, 2023
@hultonha hultonha mentioned this issue Feb 28, 2023
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@lgleim lgleim added kind/feature Categorizes issue or PR as related to a new feature. feature-need/important-soon Feature: Must be staffed / worked on either currently or very soon ideally in time for next release feature-need/immediate Feature: Immediate. Must be actively worked on as someone's top priority right now. triage/accepted Indicates an issue or PR is ready to be actively worked on. and removed feature-need/important-soon Feature: Must be staffed / worked on either currently or very soon ideally in time for next release needs-triage Indicates an issue or PR lacks a `triage/foo` label and requires one. labels Mar 2, 2023
This was referenced Mar 16, 2023
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@hultonha hultonha mentioned this issue Mar 24, 2023
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@hultonha
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hultonha commented Apr 3, 2023

Initial support for reduce coordinate articulations (Experimental) is complete.

@hultonha hultonha closed this as completed Apr 3, 2023
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Labels
feature/physics This item is related to the physics subsystem. feature/robotics This item is related to robotics. feature-need/immediate Feature: Immediate. Must be actively worked on as someone's top priority right now. kind/feature Categorizes issue or PR as related to a new feature. kind/roadmap Categorizes an issue that goes in the O3DE Public Roadmap sig/simulation Categorizes an issue or PR as relevant to SIG Simulation triage/accepted Indicates an issue or PR is ready to be actively worked on.
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@lgleim @hultonha