Support for prismatic joint

facebookresearch / differentiable-robot-model

We are implementing differentiable models of robot manipulators, which allows us to learn typically assumed to be known models of robots for control and motion planning.

MIT License

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Support for prismatic joint #40

Open ortegatron opened 2 years ago

ortegatron commented 2 years ago

Hi, I'm wondering if joint of type "prismatic", defined as "a sliding joint that slides along the axis, and has a limited range specified by the upper and lower limits" are supported. I don't find on the code any behavior attached to that join, although I see it's used on the Panda and Fetch robot models: https://github.com/facebookresearch/differentiable-robot-model/search?q=prismatic

Cheers, Marcelo

mohakbhardwaj commented 1 year ago

Hi, I am also wondering the same i.e if the current robot model supports prismatic joints? Also, is it possible to use it for floating base systems?

Best, Mohak