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scpeters-test / sdformat

Simulation Description Format (SDF) parser and description files.
http://sdformat.org
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Allow inclusion of links, collisions, and visuals #75

Open scpeters-test opened 10 years ago

scpeters-test commented 10 years ago

Original report (archived issue) by Nate Koenig (Bitbucket: Nathan Koenig).

Right now <include><uri>model://... only facilitates inclusion of a whole model.

We should add in the ability to include specific links, collisions, or visuals from a model.

For example, to include a specific collision:

#!c++

<include>
    <uri>model://MODEL_NAME/LINK_NAME/COLLISION_NAME</uri>
</include>
scpeters-test commented 10 years ago

Original comment by Steve Peters (Bitbucket: Steven Peters).

If we add the ability to include <geometry> tags as well, then we could tell collisions and visuals to use the same geometry.