gazebosim/sdformat

parser_urdf should not ignore origin of floating and planar joints

Open

#1,282 opened on May 17, 2023

View on GitHub
 (2 comments) (0 reactions) (0 assignees)C++ (122 forks)auto 404
enhancementgood first issuehelp wanted

Repository metrics

Stars
 (216 stars)
PR merge metrics
 (PR metrics pending)

Description

Desired behavior

While investigating a question related to the reference frame used for floating URDF joints, I noticed that parser_urdf.cc currently takes no action when encountering floating and planar joints (see the switch logic where no value for jtype is set and the subsequent if block). This causes the //joint/origin tag to be ignored for these joint types, when it should be passed along to the SDFormat file in the link pose.

Alternatives considered

Implementation suggestion

Additional context

Contributor guide

Research direction
Investigate the switch logic in parser urdf.cc that handles floating and planar joint types, and modify it so that the origin tag is not ignored but instead passed along to the SDFormat file in the link pose.
Tech stack
None
Domain
backend
Issue type
Bug
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.
Clear
Prerequisites
C++Git
Newbie friendlinessA 1-100 score estimating how approachable this issue is for first-time contributors.
30