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Proposal for Mimic Constraint Feature #62

Merged
merged 16 commits into from
Aug 28, 2023
Merged

Proposal for Mimic Constraint Feature #62

merged 16 commits into from
Aug 28, 2023

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scpeters
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@scpeters scpeters commented Oct 8, 2021 •
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This proposal suggests a new mimic constraint that is functionally similar to the gearbox joint type but simpler to express and more flexible. It is targeted at SDFormat 1.11 / libsdformat14.

The proposal is ready for review:

Preview: http://sdformat.org/tutorials?tut=mimic_proposal&cat=pose_semantics_docs&branch=scpeters%2Fmimic_joint_proposal

Related pull requests:

@scpeters
Start Mimic joint proposal
5fe2ff4 
Signed-off-by: Steve Peters <scpeters@openrobotics.org>
@scpeters
Example from demo_joint_types
1f3c747 
Signed-off-by: Steve Peters <scpeters@openrobotics.org>
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scpeters commented Oct 8, 2021

cc @adityapande-1995

@scpeters
intersperse description with example code
c799cd2 
Signed-off-by: Steve Peters <scpeters@openrobotics.org>
scpeters
scpeters commented Oct 9, 2021
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@adityapande-1995 adityapande-1995 mentioned this pull request Aug 29, 2022
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@adityapande-1995 adityapande-1995 mentioned this pull request Sep 20, 2022
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@adityapande-1995
Mimic joints : support mimic tag in //joint/axis/ (#80)
6e03b9d 
* mimic tag to be used with output joint
@scpeters scpeters changed the title Proposal for Mimic Joint Type Proposal for Mimic Joint Feature Sep 27, 2022
@scpeters
Update title, versions, syntax
806841a 
Propose a new constraint, not joint type
Target 1.10, libsdformat13
Use XML elements instead of attributes for numeric params

Signed-off-by: Steve Peters <scpeters@openrobotics.org>
@scpeters
Add rack and pinion example
c8443ed 
Signed-off-by: Steve Peters <scpeters@openrobotics.org>
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I've updated the proposed syntax in 806841a and added a rack and pinion example in c8443ed

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If a joint wants to mimic an axis of a multi-axis joint, like a universal joint, I wonder how we should specify that? Currently //mimic/@joint refers to a joint name, but we could say joint::axis_index like the following:

<mimic joint="joint_name::1"/>

in that case, perhaps the attribute should be joint_axis? or should we have two attributes? does the axis index start at 0 or 1?

<mimic joint="joint_name" axis="1"/>

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adityapande-1995 commented Sep 28, 2022 •
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Since the second tag is called <axis2>, probably 1 and 2 makes sense or we can do joint_name::axis2.

<mimic joint="joint_name" axis="1"/>

Seems the easiest to me personally.

@scpeters
Define the mimic constraint and parameters
829aa86 
Also mention that XPath syntax is used.

Signed-off-by: Steve Peters <scpeters@openrobotics.org>
@scpeters scpeters changed the title Proposal for Mimic Joint Feature Proposal for Mimic Constraint Feature Oct 1, 2022
@adityapande-1995 adityapande-1995 mentioned this pull request Oct 4, 2022
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@scpeters
Add //mimic/reference parameter
93a8fad 
Signed-off-by: Steve Peters <scpeters@openrobotics.org>
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scpeters commented Oct 8, 2022

I just added a //mimic/reference parameter in 93a8fad

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I just added a //mimic/reference parameter in 93a8fad

Added to implementation here : gazebosim/gz-physics@943740c

scpeters added 2 commits April 8, 2023 17:28
@scpeters
Shorten introduction and add motivation section
ce794a2 
Signed-off-by: Steve Peters <scpeters@openrobotics.org>
@scpeters
finish proposal draft
8f1f37c 
Signed-off-by: Steve Peters <scpeters@openrobotics.org>
@scpeters scpeters marked this pull request as ready for review April 9, 2023 07:02
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scpeters commented Apr 9, 2023

this is ready for review

@scpeters
Add to manifest
9adfdbc 
Signed-off-by: Steve Peters <scpeters@openrobotics.org>
@scpeters scpeters force-pushed the scpeters/mimic_joint_proposal branch from 8858065 to 9adfdbc Compare April 9, 2023 07:08
scpeters added 4 commits April 9, 2023 00:12
@scpeters
Merge branch 'master' into scpeters/mimic_joint_proposal
aa74319
@scpeters
Minor edits
167d6af 
Signed-off-by: Steve Peters <scpeters@openrobotics.org>
@scpeters
Improve rack and pinion example
5bcf584 
* add description
* use world as the joints' parent
* fix rack pose to avoid overlap

Signed-off-by: Steve Peters <scpeters@openrobotics.org>
@scpeters
Fix description of multiplier, capitalization
48a39be 
Signed-off-by: Steve Peters <scpeters@openrobotics.org>
@scpeters scpeters mentioned this pull request Jun 22, 2023
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@azeey azeey added the beta label Jul 31, 2023
@azeey azeey self-requested a review August 14, 2023 18:55
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azeey reviewed Aug 22, 2023
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@scpeters
Target SDFormat 1.11, fix typos
57aaca1 
Signed-off-by: Steve Peters <scpeters@openrobotics.org>
@scpeters scpeters merged commit ff5a051 into master Aug 28, 2023
@scpeters scpeters deleted the scpeters/mimic_joint_proposal branch August 28, 2023 18:59
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