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Feature request : Supply axis index when specifying mimic joint. #1684
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I'll expand on Aditya's API proposals. (Note that in our proposal for adding a mimic constraint to SDFormat, we have started using "follower" and "leader" terminology, so I will use that same terminology here.) At a minimum, we'd like to mimic an individual Dof of a multi-Dof joint. So that API could look like:
But that only supports mimicry of a single Dof and the current MimicConstraint supports mimicry of multiple Dofs, so we could extend the
Using this latter API, the following calls should be equivalent:
But a revolute joint could also mimic a single axis of a universal joint:
Or a single axis of a universal joint could mimic a revolute joint:
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Thank you for the detailed description! The feature request appears well-defined and feasible. I've attempted to address this in PR #1752. |
I left a comment at #1752 (comment) about a potential need for further API changes in |
Is your feature request related to a problem? Please describe.
When specifying mimic joint (https://dartsim.github.io/dart/main/d6/d5b/classdart_1_1dynamics_1_1Joint.html#ae65b6209299935e602b675f84091c499)
Only the joint pointer, multiplier, and offset are supplied to the method. The section here : (
dart/dart/constraint/MimicMotorConstraint.cpp
Line 67 in 189e24d
This does not allow mimicking individual axes of a multi-axis joint, such as enabling a revolute joint to mimic one axis of an universal joint, or have an universal joint mimic only one axis of another universal joint. In such cases, it should be permitted to specify the axis index to be mimicked for each joint, and expand the implementation of the mimic joint to accommodate this situation.
Describe the solution you'd like
For instance, the new method could look like :
Additional context
Originally came up here : gazebosim/gz-physics#431
cc @scpeters
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