[ODE] Arbitrarily positioning bodies connected by joints

[Beau Albiston]

 From the ODE manual: "the anchor is specified in world coordinates."  
If your body frame and world frame are aligned, then your statement is true.

-Beau

dan miller wrote:
> I do this all the time, without resetting anchors.  Why would that be
> necessary?  It's relative to the bodies, not global coords (unless you're
> anchored to the world)
>
>
> --- Ignacio Garc�a Fern�ndez <ignacio.garcia at uv.es> wrote:
>
>   
>> El Thursday 26 July 2007 05:08:05 Beau Albiston escribi�:
>>     
>>> BTW: You just need to move the joint anchor with the bodies and geoms. 
>>>       
>> I
>>     
>>> think some joints will also require that you set the axes parameters
>>>       
>> again.
>>     
>> You are right when you say that detachment of bodies is not necessary.
>> Just an 
>> anchor reset.
>>
>> But if you move two bodies that are linked, and the joint does not match 
>> exactly at that moment, then just setting the anchor again will introduce
>> a 
>> drift in the joints after successive translations. That's the reason for 
>> previously setting the bodies in a way that matches the joints, and then 
>> reset the anchor.
>>
>>
>> -- 
>> May the source be with you                                     
>> ---------------------------------------------------------------
>> Ignacio Garc�a Fern�ndez                  Instituto de Rob�tica
>> ignacio.garcia_at_uv.es                 Universidad de Valencia
>> http://robotica.uv.es/~ignacio/                Tlf. 96 354 3671
>>
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>>     
>
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