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.

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

AddLinkForce alternative #2713

Open
ZenBubble opened this issue Jan 11, 2025 · 2 comments
Open

AddLinkForce alternative #2713

ZenBubble opened this issue Jan 11, 2025 · 2 comments
Labels
enhancement New feature or request good first issue Good for newcomers help wanted We accept pull requests!

Comments

@ZenBubble
Copy link

Desired behavior

In old gazebo, this function was used to apply force relative to a link frame, which made it optimal to use for thrusters for AUVs and any underwater vehicle.

Alternatives considered

Tried using AddWorldForce but the force is applied relative to the world

@ZenBubble ZenBubble added the enhancement New feature or request label Jan 11, 2025
@ZenBubble
Copy link
Author

My current workaround is by taking the world pose of the link and multiplying its quaternion by the desired vector force

@azeey
Copy link
Contributor

azeey commented Jan 13, 2025

Yes, AddWorldForce applies the force at the center of mass of the link, but the force is expressed in world coordinates. An API where the force is expressed in the link frame has not been implemented yet. Would you be interested in contributing a PR?

@azeey azeey added good first issue Good for newcomers help wanted We accept pull requests! labels Jan 13, 2025
@azeey azeey removed this from Core development Jan 13, 2025
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Labels
enhancement New feature or request good first issue Good for newcomers help wanted We accept pull requests!
Projects
None yet
Development

No branches or pull requests

2 participants