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add joint velocity and joint acceleration to state structure #83

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osrf-migration opened this issue Feb 10, 2015 · 3 comments
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add joint velocity and joint acceleration to state structure #83

osrf-migration opened this issue Feb 10, 2015 · 3 comments
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Breaking change Breaks API, ABI or behavior. Must target unstable version. major proposal

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Original report (archived issue) by John Hsu (Bitbucket: hsu, GitHub: hsu).

Add velocity and acceleration to joint element for completeness.

@erwincoumans

@scpeters
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Original comment by Steve Peters (Bitbucket: Steven Peters, GitHub: scpeters).

We should rename angle to position as well to account for translational joints.

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Original comment by Erwin Coumans (Bitbucket: erwincoumans).

Has this ever been addressed? For now we can just add some custom field, that is ignored (with a warning) by Gazebo .sdf, and our own sdf loader will use that?

@scpeters scpeters added the Breaking change Breaks API, ABI or behavior. Must target unstable version. label Jan 31, 2024
@scpeters scpeters mentioned this issue Jul 20, 2024
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joint angle has been renamed to position, and velocity, acceleration, and effort states have been added to SDFormat 1.12 in #1461

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