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leggedrobotics / raisimLib

RAISIM, A PHYSICS ENGINE FOR ROBOTICS AND AI RESEARCH
http://www.raisim.com
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Asking for the constraints #41

Closed jeeseop closed 4 years ago

jeeseop commented 4 years ago

I saw that there is the stiffwire constraints Is there any plan to add distance only constraints? like rod with ball joint on each end.

jhwangbo commented 4 years ago

If it is an equality constraint, you can do it with an articulated system. You have to write a URDF file for that but it is not very complex.

jeeseop commented 4 years ago

Here is the followup question. Is it possible to attach urdf model and raisim defined body using some specific joint setup?

jhwangbo commented 4 years ago

You can create a child class (an example in raisimOgre) to build your own articulated system in cpp. You can attach an existing body to a child class and create a new articulated system. This is cumbersome but does exactly what you described. I have a plan to simplify this soon

What would be the use case of this feature? Can you describe what you want to do?