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Information/Documentation about supported tags for DART engine in SDF format ? #636
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+1 to documentation. For the time being If it helps, diving into the code worked for me. Check the SDFFeatures.cc file and there you can see all the sdf stuff that is actually being used: For example in the ConstructSdfCollision method you will see which tags from the parsed sdf are being used. As a summary for the link/collision:
You can check the other methods that construct differents parts (like links or joints) to see what it is getting from the SDF description. For dartsim (at least from gazebo, I haven't dived into dartsim) there is no concept of cfm and erp (or via kp / kd) for the joints. (EDIT: actually DART has cfm and erp but they are currently hardcoded ) Adding an issue for further readings: gazebo-forks/dart#14 |
For reference, adding the place in the code for the hardcoded values of CFM AND ERP: |
Desired behavior
I am new to ignition gazebo. I have used classic gazebo before. I see that the physics engine is changed to DART from ODE. I have also experienced that some tags not working as like classic gazebo. It would be helpful to provide more information on this, plus it would also be good if it ignition throws an error for not supported tags currently.
Alternatives considered
Having a better error handling for unsupported tags in SDF
Implementation suggestion
Standard error handling methods and also documentation in github pages or readme
Additional context
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