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gazebosim / gazebo-classic

Gazebo classic. For the latest version, see https://github.com/gazebosim/gz-sim
http://classic.gazebosim.org/
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Joint visuals are not properly oriented #1268

Closed osrf-migration closed 9 years ago

osrf-migration commented 10 years ago

Original report (archived issue) by Louise Poubel (Bitbucket: chapulina, GitHub: chapulina).

According to SDF 1.5 specification, a joint <pose> element determines the Pose offset from child link frame to joint frame (expressed in child link frame).

However, for the double pendulum for example, the joint visuals are attached aligned to the parent model and depend on the initial joint values, so each time gzclient is started, the visuals might have a different orientation with respect to the child link:

joints5.png

Note that the <use_parent_model_frame> flag only applies to the <axis> <xyz> element and not to the pose. So as I understand it, the double pendulum joints should have their z-axis always aligned along the child link like this, independently of the initial conditions:

joints6.png

osrf-migration commented 10 years ago

Original comment by Ian Chen (Bitbucket: Ian Chen, GitHub: iche033).

A fix would be to add the use_parent_model_frame field to the joint msg in Joint::FillMsg so that we know what frame the joint is specified in when rendering the joint visual in gzclient.

osrf-migration commented 10 years ago

Original comment by Ian Chen (Bitbucket: Ian Chen, GitHub: iche033).

pull request #1258

osrf-migration commented 9 years ago

Original comment by Ian Chen (Bitbucket: Ian Chen, GitHub: iche033).

osrf-migration commented 8 years ago

Original comment by Nate Koenig (Bitbucket: Nathan Koenig).

osrf-migration commented 8 years ago

Original comment by Nate Koenig (Bitbucket: Nathan Koenig).