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parser_urdf: add //frame for reduced links/joints (garden) #1149
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The urdf_gazebo_extensions.urdf file had incorrect kinematics with link3 being the child of two different joints. This adds a link4 and converts joint13 to joint14. This also fixes some expectations about the implicit_spring_damper tags. Signed-off-by: Steve Peters <scpeters@openrobotics.org>
Remove some unused parameters, and make some const. Signed-off-by: Steve Peters <scpeters@openrobotics.org>
Signed-off-by: Steve Peters <scpeters@openrobotics.org>
Prevent truncation of floating point digits in Param::Set and Param::GetDefault. Signed-off-by: Steve Peters <scpeters@openrobotics.org>
Signed-off-by: Steve Peters <scpeters@openrobotics.org>
Currently the location of some links and joints is lost when fixed joints are reduced and links lumped together. This adds //model/frame tags with the same name and pose of the reduced links and joints. Signed-off-by: Steve Peters <scpeters@openrobotics.org>
Signed-off-by: Steve Peters <scpeters@openrobotics.org>
Signed-off-by: Steve Peters <scpeters@openrobotics.org>
Codecov Report
@@ Coverage Diff @@
## sdf13 #1149 +/- ##
==========================================
+ Coverage 87.00% 87.02% +0.01%
==========================================
Files 125 125
Lines 15834 15852 +18
==========================================
+ Hits 13777 13795 +18
Misses 2057 2057
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Merged
these changes are now in #1182 |
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Draft pull request until #1137 and #1126 are merged to
sdf13
🎉 New feature
Forward port of #1148, built on top of #1137 and #1126, related to #1110
Summary
This differs from #1148 by using
sdf::Frame::ToElement()::ToString
to serialize the new frames to an XML string and also has better floating point precision due to #1137.Original summary from #1148
Currently the location of some links and joints is lost when fixed joints are reduced and links lumped together. For example, the first snippet below is a URDF with two links outlined in red and a fixed joint outlined in blue. The child link has a visual outlined in green. The second snippet shows what results when converting to SDFormat, with the fixed joint and child link removed, and the visual moved to the parent link.
This process of "fixed joint reduction" reduces the complexity of a simulation, particularly for solvers using maximal coordinates, but it does lose some frame information. This pull request adds
//model/frame
tags with the same name and pose of the reduced links and joints. For example, the following would be added for the examples shown above.Test it
Compile and run
INTEGRATION_urdf_gazebo_extensions
Checklist
codecheck
passed (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-by
messages.