The ability to swap the parent-child relationship in joints is being added in pull request #1887. During testing, I noticed that editing an existing model and performing this swap can change the location of the joint attachment, since the joint frame defined relative to the child link frame.
To reproduce, I inserted a double_pendulum_with_base, right-click -> Edit Model, then swapped the parent and child of the lower_joint. It behaves much differently after the swap.
It would require a little pose math to keep the same joint anchor after a swap.
This might not be a huge issue, since the swapping feature was motivated by joint creation, not modification of existing joints. I'm posting here for future reference.
osrf-migration
commented
8 years ago
Original report (archived issue) by Steve Peters (Bitbucket: Steven Peters, GitHub: scpeters).
The ability to swap the parent-child relationship in joints is being added in pull request #1887. During testing, I noticed that editing an existing model and performing this swap can change the location of the joint attachment, since the joint frame defined relative to the child link frame.
To reproduce, I inserted a
double_pendulum_with_base, right-click ->Edit Model, then swapped the parent and child of thelower_joint. It behaves much differently after the swap.It would require a little pose math to keep the same joint anchor after a swap.
This might not be a huge issue, since the swapping feature was motivated by joint creation, not modification of existing joints. I'm posting here for future reference.