urdf2's People
urdf2's Issues
add capsules as collision primitives
I just found out that urdf does not support capsules, which is one of the most useful and efficient collision primitives. Not having capsules might be a ko criterion for the whole urdf format to me. I really hope this gets added in the next version.
please include examples
I have been trying to use but facing difficulty. I am little bit confused about how to use it. Could someone please share examples? Thank you.
solve the issue that URDF not support Closed loop chains.
the closed_loop_plugin can solve the issue that URDF not support Closed loop chains.
refer to:
https://github.com/wojiaojiao/pegasus_gazebo_plugins
or
http://wiki.ros.org/action/edit/Angel_jj/closed_loop_plugin
Discussion on URDF2?
Hi Sachin,
thanks for putting together the nice overview on the topic. I myself have also been busy working around the restrictions of URDF by implementing an extension of it over the last 18 months (there is a quick overview).
There was a birds-of-a-feather meeting at ROSCon in October where we talked about this topic and also about dynamically changing URDF at runtime with, among others, @tfoote and @rethink-imcmahon. I haven't found a similar online discussion about URDF2, so I was wondering if we should start one here?
Cheers,
Kai
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