Robot model: joint, link and geometry
Created by: jmirabel
I have come across a dilemma which has not been stated clearly. The following terms are not completely defined:
- joint: what does it contains: one body, several bodies, geometry objects?
- body: composed of one or more geometry object ? Just a frame with no way to recover the geometry object?
- geometry object: what is its parent?
After all the issues I came across, I think the most suited is:
- geometry object must know the body they belong to. Otherwise, because Pinocchio removes anchor joints, it is not possible to handle properly the disable_collision tag.
- bodies are frames, with one or more geometry object.
- joints have one or more body.
Is there somebody who sees a problem
- having several bodies in a joint,
- making bodies as parent of geometry objects, instead of joints?
This implies a few changes in Pinocchio.