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When a model is nested in another model, the joints inside the child model are parsed as though use_parent_model_frame is set to true even if it is not.
Since use_parent_model_frame is not set, this vector is taken to be in the local frame of the child link wheel. The expected behavior is that the axis is aligned with the longitudinal direction of the cylinder.
Actual behavior:
The axis is not aligned with the longitudinal direction of the cylinder because it is rotated by the parent model's pose.
Reproduces how often:
100%
Versions
all
Additional Information
The text was updated successfully, but these errors were encountered:
Original report (archived issue) by Addisu Z. Taddese (Bitbucket: azeey, GitHub: azeey).
The original report had attachments: joint_axis_test.zip
When a model is nested in another model, the joints inside the child model are parsed as though
use_parent_model_frame
is set to true even if it is not.Relevant line of code: https://github.com/osrf/sdformat/blob/master/src/parser.cc#L1104
Steps to Reproduce
included_joint
folder in your gazebo model database. This can be done by copying the folder to~/.gazebo/models
.joint_axis_test
model by runninggz model -f joint_axis_test.sdf -m joint_axis_test
Expected behavior:
The model
included_joint
has one revolute joint with an axis set to0 0 1
. This model is nested in another model asSince
use_parent_model_frame
is not set, this vector is taken to be in the local frame of the child linkwheel
. The expected behavior is that the axis is aligned with the longitudinal direction of the cylinder.Actual behavior:
The axis is not aligned with the longitudinal direction of the cylinder because it is rotated by the parent model's pose.
Reproduces how often:
100%
Versions
all
Additional Information
The text was updated successfully, but these errors were encountered: