Translate poses of nested models inside other nested models (sdf6) #596
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When addNestedModel function is called, it processes links and joints to translate the pose accordingly to parent pose. This was not done for nested models inside the SDF being processed. The change includes nested models in the same way that is doing for links and add a test that fails without the change. Signed-off-by: Jose Luis Rivero <jrivero@osrfoundation.org>
scpeters
approved these changes
Jun 22, 2021
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this looks good to me
I tried running this test on the sdf9 branch, and it fails since it looks only at the <pose> values without considering the //pose/@relative_to attribute. I believe sdf9 is doing the right thing though, and that the test would pass if the pose values are calculated with the SemanticPose API
I believe an equivalent fix was merged to sdf10 in #399 and then back-ported to sdf9 in #424
Co-authored-by: Addisu Z. Taddese <addisu@openrobotics.org>
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Signed-off-by: Jose Luis Rivero <jrivero@osrfoundation.org>
Merged
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This pull request has been mentioned on Gazebo Community. There might be relevant details there: https://community.gazebosim.org/t/new-ignition-releases-2022-03-25-fortress-edifice-citadel/1343/1 |
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When
addNestedModelfunction is called, it processes links and joints to translate the pose accordingly to parent pose. This was not done for nested models inside the SDF being processed by the function, hence they were not aware of parent pose.This PR includes nested models in the same way that is doing for links and add a test that fails without the change.
The change was proposed by @azeey. If we are not wrong, the change is not present in newer versions of sdformat after the implementation of frame semantics.