Harness Robot with Link::SetLinkStatic in Simbody and DART

[osrf-migration]

Original report (archived issue) by John Hsu (Bitbucket: hsu, GitHub: hsu).

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Use Link::SetLinkStatic to harness robot in Simbody and DART given DART and Simbody do not yet support dynamic constraint creation.

[osrf-migration]

Original comment by Steve Peters (Bitbucket: Steven Peters, GitHub: scpeters).

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If we just want to set the canonical link to be static, should this be in the Model class? i.e. Model::SetCanonicalLinkStatic

[osrf-migration]

Original comment by John Hsu (Bitbucket: hsu, GitHub: hsu).

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Sounds good, but this means we need to guarantee that the canonical link maps to the body in the tree/skeleton with a free joint to the world.

[osrf-migration]

Original comment by Steve Peters (Bitbucket: Steven Peters, GitHub: scpeters).

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@jslee02 @karenliu During our meeting today, we discussed this, and the issue with Link::SetLinkStatic is that it's easier to set the root of a skeleton static than the branches or leaves. So it might be conceptually easier to implement this as a model function, though I take your point that the Canonical Link might not be the root of the skeleton. JS, how is the root of the skeleton chosen?

[osrf-migration]

Original comment by John Hsu (Bitbucket: hsu, GitHub: hsu).

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For reference:

DARTLink::SetLinkStatic

SimbodyLink::SetLinkStatic

[osrf-migration]

Original comment by John Hsu (Bitbucket: hsu, GitHub: hsu).

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• changed priority from "blocker" to "critical"

[osrf-migration]

Original comment by Jeongseok Lee (Bitbucket: jlee02, GitHub: jslee02).

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DARTLink::SetLinkStatic() is implemented at gazebo_dart (gazebo_3.0_dart_4.0 branch).

[osrf-migration]

Original comment by Nate Koenig (Bitbucket: Nathan Koenig).

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• changed state from "new" to "resolved"

Resolved with DRCSim 4.0.0 release.