Open IDavGal opened 1 year ago
Hi! Any update on this?
I didn't have the time to inspect the issue yet.
From my first quick inspection it seems that I can get the exact same behavior replacing the SliderJoint
with a `HingeJoint.
Then, I see that in your example all the Solid nodes are kinematic.
Do you get the same behavior properly setting the boundingObject and physics nodes for the Solid in your robot?
Describe the Bug A joint where the endPoint is a SolidReference, inside a mechanical loop that has a slider joint in it, acts as if there wasn't joint at all.
Steps to Reproduce
Expected behavior In the example given, 2 robots are spawned, each with a different joint having a SolidReference as endPoint. In each case, both upper and lower beams start points are connected to the base_link with a hingeJoint, while the sliderJoint is also connected to each beam's outer end via hingeJoints. I would expect the upper beam to rotate around the joint that links them to the base link when the sliderJoint extends. Instead I see that the beam moves as if no joint was specified
Screenshots Initial state:
Extended sliderJoint:
System
Additional context