-
Notifications
You must be signed in to change notification settings - Fork 11
New issue
Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.
By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.
Already on GitHub? Sign in to your account
Add possibility to set a base from the build_from_model_description
method
#302
Comments
I did a first implementation of this in https://github.com/CarlottaSartore/jaxsim/tree/add_base_parameter and I tested it with ergocub, i.e. this model https://github.com/icub-tech-iit/ergocub-software/blob/master/urdf/ergoCub/robots/ergoCubSN001/model.urdf and definite the But it does not work, for instance, if I define the problem seems that the children of the head link contain only the real sense while they should contain other links such as the head imu the problem seems here jaxsim/src/jaxsim/parsers/kinematic_graph.py Lines 657 to 697 in 524ad42
for reference this is the idyntree function that performs the same action : |
Hi @CarlottaSartore, thanks for working on this! The jaxsim/src/jaxsim/parsers/kinematic_graph.py Lines 278 to 298 in 524ad42
In brief, the full ordering of the traversal should be changed, as I guess it's done in iDynTree: |
I have seen that it is not possible to set the base from the method
build_from_model_description
although it is the suggested function for loading a model. It would be useful to allow the user to define any base.The text was updated successfully, but these errors were encountered: