gazebosim/sdformat

Add ball joint cone constraints to specification

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#860 opened on Feb 24, 2022

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enhancementhelp wanted

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Description

Desired behavior

Add parameters to the specification for a cone constraint on ball joints, as this is supported by some physics engines, such as the btConeTwistConstraint in bullet.

Alternatives considered

Implementation suggestion

Additional context

Contributor guide

Research direction
Examine the btConeTwistConstraint in Bullet to understand the parameters needed and propose an addition to the SDFormat ball joint specification.
Tech stack
None
Domain
backendapi
Issue type
Feature
DifficultyEstimated implementation difficulty for a new contributor, from 1 for very small changes to 5 for expert-level work.
3
Estimated timeA rough time range for an experienced contributor to investigate, implement, test, and prepare a pull request.
1-3 hours
Activity statusHow available the issue appears right now: fresh, active, stale, blocked, or waiting on maintainer input.
Fresh
ClarityHow clearly the issue explains the expected change, acceptance criteria, and next step.
Clear
Prerequisites
C++SDFormat
Newbie friendlinessA 1-100 score estimating how approachable this issue is for first-time contributors.
50