Convert URDF files to SDF with use_parent_model_frame set to 0

[osrf-migration]

Original report (archived issue) by Silvio Traversaro (Bitbucket: traversaro).

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The use_parent_model_frame option was added in SDF as part of https://bitbucket.org/osrf/gazebo/issues/494/make-joint-axis-reference-frame-relative and the related PRs .

As the URDF --> SDF converted was written before that time, all the SDF generated from URDF files by gz sdf -c model.urdf > model.sdf contain the option use_parent_model_frame set to 1. It would be great if SDF could produce a URDF with the use_parent_model_frame option set to 0.

This is due to the fact that the URDF is actually converted in [1] to a SDF 1.4, and then converted to a SDF 1.6 using the SDF conversion rules.

Related issue: bulletphysics/bullet3#1707

[1] : https://github.com/osrf/sdformat/blob/master/src/parser_urdf.cc

[osrf-migration]

Original comment by Steve Peters (Bitbucket: Steven Peters, GitHub: scpeters).

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This has more info that #163, so I'll mark that one as duplicate.

Here's the line of code where the sdf version is set:

https://github.com/osrf/sdformat/blob/ef889105d2512cd42999c55a1d9facecf1f348c6/src/parser_urdf.cc#L3155

[osrf-migration]

Original comment by Steve Peters (Bitbucket: Steven Peters, GitHub: scpeters).

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Issue #163 was marked as a duplicate of this issue.

[osrf-migration]

Original comment by Silvio Traversaro (Bitbucket: traversaro).

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Thanks @scpeters , I did not noticed #163.

Other relevant info:

• Line of code were the joint axis is rotated to be in the parent model frame: https://github.com/osrf/sdformat/blob/ef889105d2512cd42999c55a1d9facecf1f348c6/src/parser_urdf.cc#L2914

• Changes from SDF protocol from 1.5 to 1.6 : https://github.com/osrf/sdformat/blob/master/Migration.md

[osrf-migration]

Original comment by Steve Peters (Bitbucket: Steven Peters, GitHub: scpeters).

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• changed state from "new" to "resolved"

this was done in pull request #575, targeted at sdf6

it was merged forward to sdformat8 and released in 8.4.0

it was already included in 9.0.0