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Allow model frames (__model__) to be used as joint parent or child #833

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merged 1 commit into from
Jan 27, 2022
Merged

Allow model frames (__model__) to be used as joint parent or child #833

merged 1 commit into from
Jan 27, 2022

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azeey
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@azeey azeey commented Jan 27, 2022 •
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🦟 Bug fix

Summary

The spec (http://sdformat.org/tutorials?tut=composition_proposal&cat=pose_semantics_docs&#1-3-3-model-frame-references) says "For a model named {name}, model frames can be referenced by their name. {name}::__model__ is also valid, but {name} is preferred instead." libsdformat has supported using a model's {name} in //joint/parent and //joint/child for a while, but it currently does not support {name}::__model__. This PR rectifies that and also adds support for using just __model__ since that is a valid frame inside a model.

Came up in PR review for #768: comment

Checklist

  • Signed all commits for DCO
  • Added tests
  • [ ] Updated documentation (as needed)
  • [ ] Updated migration guide (as needed)
  • codecheck passed (See contributing)
  • All tests passed (See test coverage)
  • While waiting for a review on your PR, please help review another open pull request to support the maintainers

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.

@azeey azeey self-assigned this Jan 27, 2022
@github-actions github-actions bot added the 🏢 edifice Ignition Edifice label Jan 27, 2022
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Ubuntu cmake warning:

CMake Warning:
  Manually-specified variables were not used by the project:

    SKIP_usd

@scpeters scpeters mentioned this pull request Jan 27, 2022
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Ubuntu cmake warning:

CMake Warning:
  Manually-specified variables were not used by the project:

    SKIP_usd

related to gazebo-tooling/release-tools#625

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Ubuntu cmake warning:

related to ignition-tooling/release-tools#625

fix in gazebo-tooling/release-tools#632

@azeey azeey mentioned this pull request Jan 27, 2022
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@azeey azeey merged commit 61412e6 into gazebosim:sdf11 Jan 27, 2022
@azeey azeey deleted the model_in_joint branch January 27, 2022 18:03
@azeey azeey mentioned this pull request Jan 27, 2022
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azeey added a commit that referenced this pull request Jan 28, 2022
@azeey
Handle __model__ in joint parent or child when using merge-include (#…
1d833c1 
…835)

 #833 allowed using __model__ in //joint/parent or //joint/child. When merge-including models that include such cases, the __model__ has to be changed to the proxy frame.

Signed-off-by: Addisu Z. Taddese <[email protected]>
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This pull request has been mentioned on Gazebo Community. There might be relevant details there:

https://community.gazebosim.org/t/new-ignition-releases-2022-03-25-fortress-edifice-citadel/1343/1

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This pull request has been mentioned on Gazebo Community. There might be relevant details there:

https://community.gazebosim.org/t/new-ignition-releases-2022-04-13-fortress-edifice/1367/1

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@scpeters scpeters scpeters approved these changes

@EricCousineau-TRI EricCousineau-TRI Awaiting requested review from EricCousineau-TRI

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