Incorrect joint anchor position when child link pose is unset

[osrf-migration]

Original report (archived issue) by Steve Peters (Bitbucket: Steven Peters, GitHub: scpeters).

---

There is an error when inserting a model like the following that has a single link connected to the world, specifically when a model pose is specified, but no link pose:

<?xml version="1.0" ?>
<sdf version="1.4">
  <model name="model">
    <pose>1 2 3 0 0 0</pose>
    <link name="child" />
    <joint name="joint" type="revolute">
      <parent>world</parent>
      <child>child</child>
      <axis>
        <xyz>1.0 0.0 0.0</xyz>
      </axis>
    </joint>
  </model>
</sdf>

In this case, since the pose offsets are zero for the child link and joint, the joint anchor location should be at 1, 2, 3, 0, 0, 0. In practice, the joint anchor is being placed at the origin. I am writing a test to document this failure, and then I will fix it.

[osrf-migration]

Original comment by Steve Peters (Bitbucket: Steven Peters, GitHub: scpeters).

---

• changed title from "Joint error when child link pose is unset" to "Incorrect joint anchor position when child link pose is unset"

[osrf-migration]

Original comment by Steve Peters (Bitbucket: Steven Peters, GitHub: scpeters).

---

pull request #862

[osrf-migration]

Original comment by Steve Peters (Bitbucket: Steven Peters, GitHub: scpeters).

---

• changed state from "new" to "resolved"

pull request #862

[osrf-migration]

Original comment by Nate Koenig (Bitbucket: Nathan Koenig).

---

• set version to "all"

[osrf-migration]

Original comment by Nate Koenig (Bitbucket: Nathan Koenig).

---

• changed state from "resolved" to "closed"