Skip to content
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.

Sign up for GitHub

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

Jump to bottom

bullet-featherstone: support multiple kinematic tree roots in a single model #550

Open
Tracked by #545
azeey opened this issue Sep 22, 2023 · 0 comments
Open
Tracked by #545

bullet-featherstone: support multiple kinematic tree roots in a single model #550

azeey opened this issue Sep 22, 2023 · 0 comments
Labels
Bullet Bullet engine enhancement New feature or request

Comments

@azeey
Copy link
Contributor

azeey commented Sep 22, 2023

Part of #545

Desired behavior

SDFormat allows specifying multiple kinematic trees or multiple floating links in a single model. This is supported in dart, but not in bullet-featherstone

Implementation suggestion

Since bullet-featherstone doesn't support this natively, we'd have to create multiple root Mutlibody objects and do the necessary bookkeeping so that the gz-physics user facing API can present it as a single model.
@azeey azeey added the enhancement New feature or request label Sep 22, 2023
@azeey azeey changed the title bullet-featherstone: support multiple kinematic trees in a single model bullet-featherstone: support multiple kinematic tree roots in a single model Sep 22, 2023
@azeey azeey added the Bullet Bullet engine label Sep 22, 2023
@azeey azeey mentioned this issue Sep 22, 2023
Open
10 tasks
@iche033 iche033 mentioned this issue Nov 14, 2023
Merged
9 tasks
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Assignees
No one assigned
Labels
Bullet Bullet engine enhancement New feature or request
Projects
Core development
Status: To do
Milestone
No milestone
Development

No branches or pull requests
1 participant
@azeey