Merge pull request gazebosim#492 from gazebosim/nkoenig/2-to-5-20230320

Forward port 2 to 5
azeey · Mar 20, 2023 · 8127d83 · 8127d83
2 parents b184e6f + 8c63042
commit 8127d83
Showing 1 changed file with 3 additions and 2 deletions.
diff --git a/dartsim/src/SDFFeatures.cc b/dartsim/src/SDFFeatures.cc
@@ -1010,10 +1010,11 @@ Identity SDFFeatures::ConstructSdfJoint(
 
  {
  auto childsParentJoint = _child->getParentJoint();
+ std::string parentName = worldParent? "world" : _parent->getName();
  if (childsParentJoint->getType() != "FreeJoint")
  {
  ignerr << "Asked to create a joint between links "
- << "[" << _parent->getName() << "] as parent and ["
+ << "[" << parentName << "] as parent and ["
  << _child->getName() << "] as child, but the child link already "
  << "has a parent joint of type [" << childsParentJoint->getType()
  << "].\n";
@@ -1023,7 +1024,7 @@ Identity SDFFeatures::ConstructSdfJoint(
  {
  // TODO(MXG): Add support for non-tree graph structures
  ignerr << "Asked to create a closed kinematic chain between links "
- << "[" << _parent->getName() << "] and [" << _child->getName()
+ << "[" << parentName << "] and [" << _child->getName()
  << "], but that is not supported by the dartsim wrapper yet.\n";
  return this->GenerateInvalidId();
  }