gazebosim/sdformat

Allow axis withouth <xyz> in ball joints

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#1,250 opened on Mar 14, 2023

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enhancementhelp wanted

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Description

Ball joints don't really have an axis however it is still used in the sdf file to specify dynamics parameters like damping or friction. All axis currently need to specify some <xyz> values but since this is of no use for a ball joint it can be confusing for users (i.e: https://github.com/RobotLocomotion/drake/pull/18966). The idea is to remove the requirement for <xyz> values for ball joints.

Maybe some clarification to the specification regarding ball joints could be considered too.

Contributor guide

Research direction
Investigate the SDFormat parser code where <xyz> is required for axis elements, and modify it to allow optional <xyz> for ball joints. Also update the SDFormat specification documentation to clarify that ball joints do not require an axis with <xyz>.
Tech stack
cpp
Domain
robotics
Issue type
Feature
DifficultyEstimated implementation difficulty for a new contributor, from 1 for very small changes to 5 for expert-level work.
3
Estimated timeA rough time range for an experienced contributor to investigate, implement, test, and prepare a pull request.
Half day
Activity statusHow available the issue appears right now: fresh, active, stale, blocked, or waiting on maintainer input.
Active
ClarityHow clearly the issue explains the expected change, acceptance criteria, and next step.
Mostly clear
Prerequisites
SDFormatC++
Newbie friendlinessA 1-100 score estimating how approachable this issue is for first-time contributors.
50