Open iche033 opened 3 months ago
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include/gz/physics/detail/Kinematic.hh | 0.00% | 4 Missing :warning: |
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I think we need more documentation on what it means for a Link
to be Kinematic
, including the documenation for the SDFormat //link/kinematic
tag:
I'm currently looking at the documentation for ODE and bullet for inspiration:
I think we need more documentation on what it means for a
Link
to beKinematic
, including the documenation for the SDFormat//link/kinematic
tag:I'm currently looking at the documentation for ODE and bullet for inspiration:
also for dart: https://github.com/dartsim/dart/blob/main/dart/dynamics/Joint.hpp#L178-L187
π New feature
Summary
Note: bullet version >=3.07 is need for this feature. On Jammy, the version is 3.06 so you'll need to build bullet from source. Noble should come with 3.24
Initial support for kinematic mode in bullet-featherstone implementation.
<kinematic>
SDF value sets a link to kinematic iftrue
.Not supported yet - setting velocity to a kinematic link or to a joint connecting kinematic links.
Test it
Added tests to make sure we can make base and non-base links kinematic.
You can also test with gz-sim. Example: the
base
andupper_link
links are set to kinematic in the pendulum_links.sdf.patch
```diff diff --git a/examples/worlds/pendulum_links.sdf b/examples/worlds/pendulum_links.sdf index 5eecd1893..bd5ec53d5 100644 --- a/examples/worlds/pendulum_links.sdf +++ b/examples/worlds/pendulum_links.sdf @@ -71,6 +71,7 @@Launch the world with bullet-featherstone plugin:
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