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admin-shell-io / questions-and-answers

This repository aims for providing answers to often asked questions in the context of the Asset Administration Shell.
https://admin-shell-io.github.io/questions-and-answers/
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How to represent kinematic model for robotics #73

Closed imcardle closed 2 years ago

imcardle commented 2 years ago

Has a standard been proposed for the modelling of kinematics in AAS? Common file formats for this information already exist (e.g. URDF files) - so perhaps the intention is for this information to simply be referenced or added as supplementary files in the AAS? In any case, some guidance on the best practice would be useful, I think.

StenGruener commented 2 years ago

@imcardle: we are not aware of any dedicated kinematic models within AAS.

However, if you are coming more from the simulation direction, the IDTA working group Simulation might be interesting for you. Here is one example: https://github.com/admin-shell-io/submodel-templates/blob/main/development/Simulation/1/0/Festo_VWS_DGST_8078833_16_02_2021_enl_1_FMU.aasx

On the other hand, embedding files within submodels is always possible using "File" submodel elements with dedicated semantic IDs, as it is, for example, done within the MTP submodel proposal.