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Should permit nesting models without links (e.g. defining frames / visuals / collision only)? #336
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Thoughts:
So thinking about this, my gut says we punt for now on SDFormat 1.8. |
EricCousineau-TRI
changed the title
SDFormat 1.8: Should permit nesting models without links (e.g. defining frames / visuals / collision only)?
Should permit nesting models without links (e.g. defining frames / visuals / collision only)?
Aug 13, 2020
Resolved via #341 and is tested in the |
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In SDFormat 1.7, we admit models with no links iff they are
//static=true
, and the canonical link for those models are attached to the world:http://sdformat.org/tutorials?tut=pose_frame_semantics_proposal&cat=pose_semantics_docs-1-implicit-frame-defined-by-model-pose-attached-to-canonical-link
However, @azeey pointed out that we may want similar behavior for nested models:
gazebosim/sdf_tutorials#34 (review)
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