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gazebosim / gz-mujoco

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Add joint conversion for fixed, continuous, revolute, prismatic, and ball types #4

Closed azeey closed 2 years ago

azeey commented 2 years ago

🎉 New feature

Summary

Additional joint types, such as revolute2 and universal can be implemented by using multiple joints, but I think we can leave them for a follow up PR. The remaining joint types (gearbox and screw) will also handled in a later PR.

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.

codecov[bot] commented 2 years ago

Codecov Report

Merging #4 (20dd572) into main (0742043) will increase coverage by 3.37%. The diff coverage is 90.27%.

@@            Coverage Diff             @@
##             main       #4      +/-   ##
==========================================
+ Coverage   83.33%   86.71%   +3.37%     
==========================================
  Files           4        5       +1     
  Lines          72      143      +71     
==========================================
+ Hits           60      124      +64     
- Misses         12       19       +7
Impacted Files Coverage Δ
sdformat_mjcf/sdformat_mjcf/sdf_utils.py 52.17% <28.57%> (-12.54%) :arrow_down:
sdformat_mjcf/sdformat_mjcf/converters/joint.py 96.92% <96.92%> (ø)

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azeey commented 2 years ago

Created issues https://github.com/gazebosim/gz-mujoco/issues/23 and https://github.com/gazebosim/gz-mujoco/issues/24 to track support for other joint types.