Signed-off-by: ahcorde ahcorde@gmail.com

🎉 New feature

Summary

Build on top of https://github.com/gazebosim/gz-mujoco/pull/43

Add prismatic and revolute joints + defaults

This is the humanoid with all the joints

Selection_081

One limitation that we have right now:

Some models define:

<body name="box1" pos=".4 0 .4" childclass="object">
  <joint name="box1_x" type="slide" axis="1 0 0" ref=".4"/>
  <joint name="box1_z" type="slide" axis="0 0 1" ref=".4"/>
  <joint name="box1_y" type="hinge" axis="0 1 0"/>
  <geom  name="box1" type="box" size=".022 .022 .022" />
  <site  name="box1" type="sphere"/>
</body>

I think this is used in Mujoco to check the values of the 3 axes but in Ignition we can't handle several joint with the same child.

Similar thing is happening in the humanoid models some joints are connect to the same model

[Err] [SDFFeatures.cc:1024] Asked to create a joint between links [torso] as parent and [lower_waist] as child, but the child link already has a parent joint of type [RevoluteJoint].
[Err] [SDFFeatures.cc:1024] Asked to create a joint between links [pelvis] as parent and [right_thigh] as child, but the child link already has a parent joint of type [RevoluteJoint].
[Err] [SDFFeatures.cc:1024] Asked to create a joint between links [pelvis] as parent and [right_thigh] as child, but the child link already has a parent joint of type [RevoluteJoint].
[Err] [SDFFeatures.cc:1024] Asked to create a joint between links [right_shin] as parent and [right_foot] as child, but the child link already has a parent joint of type [RevoluteJoint].
[Err] [SDFFeatures.cc:1024] Asked to create a joint between links [pelvis] as parent and [left_thigh] as child, but the child link already has a parent joint of type [RevoluteJoint].
[Err] [SDFFeatures.cc:1024] Asked to create a joint between links [pelvis] as parent and [left_thigh] as child, but the child link already has a parent joint of type [RevoluteJoint].
[Err] [SDFFeatures.cc:1024] Asked to create a joint between links [left_shin] as parent and [left_foot] as child, but the child link already has a parent joint of type [RevoluteJoint].
[Err] [SDFFeatures.cc:1024] Asked to create a joint between links [torso] as parent and [right_upper_arm] as child, but the child link already has a parent joint of type [RevoluteJoint].
[Err] [SDFFeatures.cc:1024] Asked to create a joint between links [torso] as parent and [left_upper_arm] as child, but the child link already has a parent joint of type [RevoluteJoint].

Checklist

[x] Signed all commits for DCO
[x] Added tests
[ ] Updated documentation (as needed)
[ ] Updated migration guide (as needed)
[ ] Consider updating Python bindings (if the library has them)
[x] codecheck passed (See contributing)
[x] All tests passed (See test coverage)
[x] While waiting for a review on your PR, please help review another open pull request to support the maintainers

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.

Impacted Files	Coverage Δ
...f_to_sdformat/mjcf_to_sdformat/converters/joint.py	`92.30% <92.30%> (ø)`
...cf_to_sdformat/mjcf_to_sdformat/converters/link.py	`100.00% <100.00%> (ø)`
...f_to_sdformat/mjcf_to_sdformat/converters/world.py	`97.95% <100.00%> (+0.73%)`	:arrow_up:

gazebosim / gz-mujoco

MJCF 2 SDF: Support prismatic and revolute joints #55

🎉 New feature

Summary

Checklist

Codecov Report