Open ShravanTata opened 4 years ago
I encountered the same issue regarding ball joints. As of now, there are three joints missing for the SDF format (Cf. joints section):
As Phobos is mainly based on URDF it explains the lack of such joints.
What would be the ideal solution in that case ?
Adding a ball joint is no problem, exporting it to URDF will lead to an error message, so that the user has to take care of it. I'll update this when I found time to tackle this.
The other two need some more changes, especially the coupling of the screw joint. This will rather happen in a later iteration.
Currently Phobos only supports single degrees of freedom joints. In my models it is essential to have multiple degrees of freedom. From a robotics points of view it is understandable to have single DOF since they represent motors. But I am working on more abstract simulation models which would require multi DOF joints.
Describe the solution you'd like To support all the joints described in SDF format. [http://sdformat.org/spec?ver=1.6&elem=joint]