scpeters-test commented 5 years ago

Original report (archived issue) by Addisu Z. Taddese (Bitbucket: azeey, GitHub: azeey).

The original report had attachments: joint_axis_test.zip

When a model is nested in another model, the joints inside the child model are parsed as though use_parent_model_frame is set to true even if it is not.

Relevant line of code: https://github.com/scpeters-test/sdformat/blob/master/src/parser.cc#L1104

Steps to Reproduce

Extract attached zip file. Place the included_joint folder in your gazebo model database. This can be done by copying the folder to ~/.gazebo/models.
Run gazebo
Spawn the joint_axis_test model by running gz model -f joint_axis_test.sdf -m joint_axis_test

Expected behavior:

The model included_joint has one revolute joint with an axis set to 0 0 1. This model is nested in another model as

<include>
  <uri>model://included_joint</uri>
  <pose>0 0 0.5 0 -1.570796 0</pose>
</include>

Since use_parent_model_frame is not set, this vector is taken to be in the local frame of the child link wheel. The expected behavior is that the axis is aligned with the longitudinal direction of the cylinder.

default_gzclient_camera(1)-2019-09-04T11_02_18.648658.jpg