Permit to export as URDF iDynTree::Model models that do not respect URDF convention on link frames - Githubissues

robotology / idyntree

Multibody Dynamics Library designed for Free Floating Robots

BSD 3-Clause "New" or "Revised" License

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Permit to export as URDF iDynTree::Model models that do not respect URDF convention on link frames #847

Closed traversaro closed 1 month ago

traversaro commented 1 month ago

This features is now needed for creo2urdf, as discussed with @Nicogene @mfussi66 .

Point of the code that need changes: *https://github.com/robotology/idyntree/blob/07fac3a9990825c4384d3de9eface22799c828ee/src/model_io/codecs/src/URDFModelExport.cpp#L362-L370

We should refactor the code in https://github.com/robotology/idyntree/blob/07fac3a9990825c4384d3de9eface22799c828ee/src/model/src/ModelTransformers.cpp#L418-L441 and https://github.com/robotology/idyntree/blob/07fac3a9990825c4384d3de9eface22799c828ee/src/model/src/ModelTransformers.cpp#L449-L531 to permit to move link frame, instead of just handling the case of multiple links that are lumped in a parent one.

traversaro commented 1 month ago

I added the definition and the (failing) test in https://github.com/robotology/idyntree/commit/271e68a9d4b3af7548ff839802a7b3a567e46351. Now I will proceed with the implementation.