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add option for rigid body/typed constraint to set target velocity

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compare joint feedback between multi body and rigid body. initial results are promising (not exactly the same, but reasonably close)
This commit is contained in:
Erwin Coumans
2015-06-24 23:19:00 -07:00
parent b14afba350
commit d830681674
11 changed files with 426 additions and 164 deletions
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26
data/sphere2.urdf
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@@ -43,5 +43,31 @@
<child link="childA"/>
<origin xyz="0 0 1.0"/>
</joint>
<link name="childB">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0.5"/>
<mass value="10.0"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0.5"/>
<geometry>
<sphere radius="0.5"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.5"/>
<geometry>
<sphere radius="0.5"/>
</geometry>
</collision>
</link>
<joint name="joint_childA_childB" type="continuous">
<parent link="childA"/>
<child link="childB"/>
<axis xyz="0 1 0"/>
<origin xyz="0 0 0.5"/>
</joint>
</robot>