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SAP now supports constraints, but currently users can only define those constraints programmatically.
Closed kinematic chains are a common feature in robots (e.g. Cassie, or in many underactuated h…
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Related issue https://github.com/robotology/idyntree/issues/674
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The correct place to specify hardware interfaces in the `` tag of URDF is inside the `` element. Because of a design-time mistake, `gazebo_ros_control` was rolled out in Hydro parsing hardware interfa…
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Separate the URDF XML parsing to provide a clean, fully defaulted json representation of the URDF data so it can be used to implement loaders in other engines including Babylon.js. The structure from …
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OS: Windows 11 + WSL2
Kernel: Linux version 5.10.60.1-microsoft-standard-WSL2
OpenGL version: 4.2
After successful build, I tried to launch the ros simple demo using
`ros2 launch mbzirc_ro…
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There are many desired changes to the URDF spec that are needed for projects like MoveIt and Tesseract that have not been merged into this repo. This has been an issue for many years - the spec is bas…
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Hi,
by copying or assigning the KDL::Tree the inertia information of the root segment is not copied and is restored to zero.
The inertia information:
```
segment.getInertia().getMass()
segment.…
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**Is your feature request related to a problem? Please describe.**
Work on #17390 has moved model directives parsing into the main parser framework. However, it does not yet use the diagnostic policy…
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**Original report ([archived issue](https://osrf-migration.github.io/gazebo-gh-pages/#!/osrf/gazebo/issues/748)) by Dave Coleman (Bitbucket: [Dave Coleman](https://bitbucket.org/%7B58f784f8-4b19-4221-…
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SDFormat 1.6/1.7/1.8 XML has both a `revolute` and a `continuous` joint type, but they appear to be redundant. A `continuous` joint has no limits, while a revolute joint does. However, whether or not …