gazebosim/sdformat
parser_urdf should not ignore origin of floating and planar joints
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#1,282 opened on 2023/05/17
enhancementgood first issuehelp wanted
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説明
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.