sdf/1.10/joint.sdf: add screw_thread_pitch #1168
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Gazebo-classic interprets this parameter with units of radians / meter with a positive value corresponding to a left-handed thread. Signed-off-by: Steve Peters <[email protected]>
Deprecate thread_pitch parameter and recommend new screw_thread_pitch parameter with different units and sign convention. Signed-off-by: Steve Peters <[email protected]>
Signed-off-by: Steve Peters <[email protected]>
This adds ScrewThreadPitch and SetScrewThreadPitch APIs for getting and setting the thread pitch using the units and sign convention of //joint/screw_thread_pitch. During Joint::Load, the screw_thread_pitch variable is preferred, while thread_pitch is used otherwise. Signed-off-by: Steve Peters <[email protected]>
Signed-off-by: Steve Peters <[email protected]>
Signed-off-by: Steve Peters <[email protected]>
Signed-off-by: Steve Peters <[email protected]>
Codecov Report
@@ Coverage Diff @@
## sdf13 #1168 +/- ##
==========================================
- Coverage 87.26% 87.25% -0.01%
==========================================
Files 125 125
Lines 16102 16114 +12
==========================================
+ Hits 14051 14061 +10
- Misses 2051 2053 +2
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azeey
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Oct 11, 2022
azeey
reviewed
Oct 13, 2022
Signed-off-by: Steve Peters <[email protected]>
Add param_precedence joint to test file with identical values for thread_pitch and screw_thread_pitch and confirm that the screw_thread_pitch value is used. Signed-off-by: Steve Peters <[email protected]>
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Oct 18, 2022
Depends on gazebosim/sdformat#1168 to provide the //joint/screw_thread_pitch parameter in SDFormat 1.10 and corresponding Joint::ScrewThreadPitch() that uses the same units as drake: meters / revolution.
This was referenced Oct 18, 2022
scpeters
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Depends on gazebosim/sdformat#1168 to provide the //joint/screw_thread_pitch parameter in SDFormat 1.10 and corresponding Joint::ScrewThreadPitch() that uses the same units as drake: meters / revolution.
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I've opened RobotLocomotion/drake#18127 as a draft pull request that uses this branch. I'll mark it as ready for review once this PR has been merged and released |
azeey
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Oct 18, 2022
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Depends on gazebosim/sdformat#1168 to provide the //joint/screw_thread_pitch parameter in SDFormat 1.10 and corresponding Joint::ScrewThreadPitch() that uses the same units as drake: meters / revolution.
scpeters
added a commit
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Oct 24, 2022
Depends on gazebosim/sdformat#1168 to provide the //joint/screw_thread_pitch parameter in SDFormat 1.10 and corresponding Joint::ScrewThreadPitch() that uses the same units as drake: meters / revolution.
scpeters
added a commit
to scpeters/drake
that referenced
this pull request
Oct 24, 2022
Depends on gazebosim/sdformat#1168 to provide the //joint/screw_thread_pitch parameter in SDFormat 1.10 and corresponding Joint::ScrewThreadPitch() that uses the same units as drake: meters / revolution.
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🦟 Bug fix
Fixes #1125 and adds alternate parameter
Summary
This clarifies the definition (including units and sign convention) of the
//joint/thread_pitchparameter in 3f080e6 based on the interpretation of this parameter in gazebo-classic, fixing #1125. Based on the additional discussion in that issue, I have added a new element//joint/screw_thread_pitchwith units of meters / revolution that is positive for right-handed threads, and deprecates//joint/thread_pitchin SDFormat 1.10. C++ and python APIs for getting and setting the thread pitch using the new units / sign convention are added as well, while preserving the functionality of the existing API.Checklist
codecheckpassed (See contributing)Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining
Signed-off-bymessages.