Add joint motors #119
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Add joint motors #119
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… a revolute joint.
…orque projection.
sebcrozet
added
C-Enhancement
|
this is so cool! can't wait to put my hands on this! |
This was referenced Feb 23, 2021
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This adds motors to the prismatic, revolute, and ball joints. The motor acts as a spring-like constraint, configurable as described in #87. As such, it is possible to give the motor a target velocity as well as a target position.
Multiple spring-like equations (velocity-based, acceleration-based, or force-based) can be chosen by the user in a per-joint basis.
The
joint3demo has been updated to add motorized joint examples.This PR also includes some preliminary work on a generic 6DoF joint as suggest in #87. However it's not implemented in a very satisfying way yet so its sources are commented out right now.
Fix #87