Open azeey opened 2 years ago
The parent entity of a joint should be the child link
I don't think it's that straight forward. The joint has technically 2 parents:
components::ParentEntity
currently holds the model entity, and I think that's correct. The question is how can we resolve its pose correctly. Some ideas:
components::PoseFrame
(I think this can become too complicated to maintain, and will probably duplicate some frame semantics functionality already in SDF, so I think it's not a good idea)worldPose
(not ideal, but not too bad)worldPose
for joints, and instead handle this in the new Joint
class that we need to create eventually (#325 )
- Expected behavior: The pose component of a joint is relative to its child link, so the parent entity of joint should also be the child link
Currently the JointPositionController GUI plugin lists the joints in a given model by checking for joints whose ParentEntity
component matches a specified model entity. If we did decide to change the ParentEntity
of a joint from its model to its child link, I think we'd still want to support this functionality in another way.
components::ParentEntity
currently holds the model entity, and I think that's correct.
I also favor keeping a joint's ParentEntity
as its containing model
The question is how can we resolve its pose correctly. Some ideas:
- Handle joints as a special case within
worldPose
(not ideal, but not too bad)
I think this would be the easiest thing to implement. We are already working around this in the ForceTorque system.
Environment
Description
worldPose
.