Hi,
I'ld like to know if it is possible to add multiple models to each other, but
in such a way that the relative pose of the canonical bodies of models can
change.
i.e. A crane can be modelled as a mobile platform with some arm, but on top of
that arm, I want to put some manipulator (for lifting, or drilling). Is it
possible to create the worldfile/models in such a way, that the manipulator
moves up if the arm of the base model goes up?
<model:Crane>
<parameters>...</parameters>
...
<model:Drill>
<xyz>0 0 1</xyz>
<plugin>~/MyModels/Drill.so</plugin>
<id>mydrill</id>
</model:Drill>
</model:Crane>
this way, the drill would move along with the canonical body of the crane, but
not with the arm on the crane...
Anyone knows if it is possible and how to do so?
tnx,
Andy
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