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RobotLocomotion / drake

Model-based design and verification for robotics.
https://drake.mit.edu
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URDF robot/frame is a drake extension, and not properly namespaced. #20837

Open rpoyner-tri opened 7 months ago

rpoyner-tri commented 7 months ago

What happened?

Drake's URDF parser accepts /robot/frame, and translates it into a fixed-offset frame. This is a drake extension to URDF, and not properly namespaced.

Version

1.25, and probably around for years.

What operating system are you using?

Ubuntu 22.04

What installation option are you using?

compiled from source code using Bazel

Relevant log output

There is no log output, but see source code for UrdfParser::ParseFrame, and compare it to the documented elements at https://wiki.ros.org/urdf/XML/robot.
rpoyner-tri commented 7 months ago

Propose introducing drake:frame, and deprecating/removing use of undecorated frame elements.