Absolem: syncronize Xacro with manual edits of model.sdf #877
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…orrespond to the desired values in SDF.
This commit makes no real change to the geometry of the model, it just represents some numbers and rotations differently.
This was referenced Apr 4, 2021
nkoenig
approved these changes
Apr 6, 2021
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This PR replaces #851 until gzweb can support SDF 1.7 relative poses.
It updates the Xacro source files to correspond to the manual changes done to model.sdf . With this PR, running
scripts/update_robot_sdfresults again in the exact same SDF as the one commited to the repo.There are a few changes to the model.sdf brought in by this PR, but that's probably just a difference between SDF rendering by libsdformat 8.9.0 and 8.9.1, and some whitespace changes. The "semantics" of the model is exactly the same. It can be easily seen by reviewing the changes, and I have also tested the update model in the simulator and it produces exactly the same data.
The requirement to keep SDF version 1.6 is satisfied by using
ign sdf -pfrom libsdformat 8, which is the version used earlier in Blueprint, which does not know SDF 1.7. All developers who want to update the robot's model.sdf will need to installlibsdformat8-devmanually. "Normal users" of the robot model are not affected and do not have to install anything.