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URDF->SDF handle links with no inertia or small mass (#1238)
When converting from URDF to SDFormat, some links without an <inertial> block or a small mass may be dropped with only debug messages in a log file, which are easily missed. This makes the following changes: * When a massless link in the middle of a kinematic chain is successfully merged to its parent by fixed joint reduction, fix bug that was dropping the massless link's child links and joints. * Print no warnings or debug messages when a massless link is successfully merged to a parent by fixed joint reduction. * Promote debug messages to warnings / errors when links are dropped to improve visibility. Improve message clarity and suggest fixes to the user. * Change massless threshold test to `> 0` instead of being within a 1e-6 tolerance of 0. * Add unit and integration tests. Related to #199 and #1007. (cherry picked from commit 6ffe669) Signed-off-by: Aaron Chong <aaronchongth@gmail.com> Co-authored-by: Steve Peters <scpeters@openrobotics.org>
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