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sdf/1.8/joint.sdf: parent/child accept frame names
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The `//joint/child` and `//joint/parent` elements now accept any
valid frame name instead of only link names.
The migration guide is updated as well.

Closes gazebosim#204.

Signed-off-by: Steve Peters <[email protected]>
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scpeters committed Jul 2, 2020
1 parent 3b4275d commit 88587de
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4 changes: 4 additions & 0 deletions Migration.md
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## SDF protocol 1.7 to 1.8

### Modifications

1. **joint.sdf** `child` and `parent` elements accept frame names instead of only link names

### Deprecations

1. **joint.sdf** `initial_position` element in `<joint><axis>` and `<joint><axis2>` is deprecated
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4 changes: 2 additions & 2 deletions sdf/1.8/joint.sdf
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</attribute>

<element name="parent" type="string" default="__default__" required="1">
<description>Name of the parent link or "world".</description>
<description>Name of the parent frame or "world".</description>
</element> <!-- End Parent -->

<element name="child" type="string" default="__default__" required="1">
<description>Name of the child link. The value "world" may not be specified.</description>
<description>Name of the child frame. The value "world" may not be specified.</description>
</element> <!-- End Child -->

<element name="gearbox_ratio" type="double" default="1.0" required="0">
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