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Add parallel kinematics plugin / prototype #167

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gkjohnson opened this issue Jun 15, 2020 · 0 comments
Open

Add parallel kinematics plugin / prototype #167

gkjohnson opened this issue Jun 15, 2020 · 0 comments
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enhancement New feature or request three.js

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@gkjohnson
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gkjohnson commented Jun 15, 2020 •
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Add prototype support for parallel kinematics even though they're not supported in the URDF 1 spec.

Format

  • Use something like <ParallelLink> to mirror <Link> so the files are compatible with other parsers.

Solver

  • Use a something like a simple gradient descent solver.
  • Don't attempt to limit user-specified joint positions based on parallel links.
  • Fixed joints for the solve must be specified -- ie all known joint positions should be fixed.
  • Intended for simple, unknown, passive joints in the system.

Existing Solvers
@gkjohnson gkjohnson added three.js enhancement New feature or request labels Jun 15, 2020
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@gkjohnson