Skip to content

v3.2 - Prismatic joints
Compare
Choose a tag to compare
@Phylliade Phylliade released this 10 Jul 15:11
· 58 commits to master since this release
v3.2
3e879d1
This commit was created on GitHub.com and signed with GitHub’s verified signature. The key has expired.
GPG key ID: 4AEE18F83AFDEB23
Expired
Learn about vigilant mode.

Add full support for prismatic joints

  • type="prismatic" in URDF
  • forward kinematics
  • bounds
  • prismatic joints axes are plotted in dotted lines, where revolute joints are plotted in solid lines

Fixes #96
Fixes #104

Ex on URDF provided by https://github.com/AhmetMericOzcan. The prismatic joint is the dotted one:

Figure 6(1)

When sliding the prismatic joint, we see it moving:
Figure 5(1)

Additional features

  • Support for arbitrary joint types in the URDF
  • Fixed a bug in URDF parsing where fixed joints could be considered as revolute
  • Support for customizable optimization algorithms. Fixes #108

Thanks to https://github.com/Klausstaler and https://github.com/AhmetMericOzcan for the support and resources!

Assets 2
Loading