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Support for multiple degrees of freedom joints #368
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Support for multiple degrees of freedom joints #368
AlpenAalAlex
wants to merge
31
commits into
dfki-ric:master
from
AlpenAalAlex:issue195-Support-for-multiple-degrees-of-freedom-joints
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…issue195-Support-for-multiple-degrees-of-freedom-joints
…' of https://github.com/AlpenAalAlex/phobos into issue195-Support-for-multiple-degrees-of-freedom-joints
Exporting pose relative to root link because gazebo 9 ignores relative_to attribute
…-selected' into issue195-Support-for-multiple-degrees-of-freedom-joints
Really cool I'll check this at my end! |
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Description
Implements a TODO in joints.py:
Update spring and damping once the user changes these values in custom properties
Added joint types:
gearbox - a constraint for two revolute joints
parameters:
In Gazebo the child of a gearbox joint does no longer collide with other links. If you know how to fix this please let me know
ball - a ball and socket joint
parameters:
Limit will be applied to upper and lower limit
These parameters are not yet supported by Gazebo but apparently by other programs
universal - a ball joint with a constrained axis
parameters:
each with:
axis and axis2 are free. The missing axis is constrained
screw - a joint with rotational motion coupled to sliding
parameters:
The screw can slide along the axis and will rotate around that axis
The rotation is determined by the thread pitch given in meters per revolution
Related Issue
#195
Motivation and Context
So far phobos only supports 1-DOF joints. SDF provides other joint type definitions.
How Has This Been Tested?
To test create a simple model with each of these joints, export as sdf and import into gazebo
The gearbox is a constraint between two joints. The links can be in this order:
|root_link
|-parent_link - revolute joint
|--gearbox
|---child_link - revolute joint
|-reference_body - fixed joint
If you change the custom properties joint/dynamics/damping and joint/dynamics/spring_stiffness you can see damping and stiffness is updated in the physics tab
Screenshots (if appropriate):
Types of changes
Checklist: