Open eacousineau opened 5 years ago
I also get sad when there's math via
xacro
or some other text processing, and most of that math involves${np.pi / 180 * <degrees>}
.
Not saying having support for degrees isn't worthwhile, but with the Jade+ xacro and Python support, using degrees is as simple as: ${radians(123)}
.
Nothing to be sad about I'd think, and also no repetition of pi/180*<degrees>
.
While ${radians(123)}
is def. an improvement, I still get sad when xacro
gets pulled in to simplify math (and maybe some simple frame concatenation). I'd see xacro
as necessary for very model-intrinsic permutations or automation (e.g. complex control statements), but less so for specifying measurements against reference points with easy-to-interpret values.
I always want to turn a simple model file into a xacro
to get those math-y benefits, but it feels like that's a band-aid in lieu of a better answer... (definitely the most practical answer for the time being, though! I am just a tad picky, though :P)
Off-topic, but: personally I never use plain urdf. All my robot models are .xacro
s, if only for the fact that plain urdf is non-composible (and I tend to get a bit sad when models aren't composible). That reduces the threshold for using ${..}
for things significantly.
To parallel #13 / #123:
It'd be nice if users could also specify
rpy
in degrees, either via an explicitly separate field,rpy_deg
, or via some unit specification that is local to that tag.I always get sad when I see URDFs or SDFs that have varying degrees of precision of
pi / {4,2,3}
etc., when that could be much more easily captured via degrees.I also get sad when there's math via
xacro
or some other text processing, and most of that math involves${np.pi / 180 * <degrees>}
.\cc @scpeters @clalancette
(TBH, I'd personally love to see this as part of SDF as well - but will post that directly as an
sdformat
issue.)