Reverting urdf.sdf, adding new pose_without_frames.sdf, using that in…

… actor and inertial

Signed-off-by: Aaron Chong <[email protected]>

sdf/1.9/CMakeLists.txt

@@ -40,6 +40,7 @@ set (sdfs
   polyline_shape.sdf
   population.sdf
   pose.sdf
+  pose_without_frames.sdf
   projector.sdf
   ray.sdf
   rfidtag.sdf

sdf/1.9/actor.sdf

@@ -72,7 +72,7 @@
         <element name="time" type="double" default="0.0" required="1">
           <description>The time in seconds, counted from the beginning of the script, when the pose should be reached.</description>
         </element>
-        <include filename="pose.sdf" required="1">
+        <include filename="pose_without_frames.sdf" required="1">
           <description>The pose which should be reached at the given time.</description>
         </include>
       </element> <!-- End Waypoint -->

sdf/1.9/inertial.sdf

@@ -6,7 +6,7 @@
     <description>The mass of the link.</description>
   </element>
 
-  <include filename="pose.sdf" required="0">
+  <include filename="pose_without_frames.sdf" required="0">
     <description>This is the pose of the inertial reference frame. The origin of the inertial reference frame needs to be at the center of gravity. The axes of the inertial reference frame do not need to be aligned with the principal axes of the inertia.</description>
   </include>
 

sdf/1.9/pose_without_frames.sdf

@@ -0,0 +1,16 @@
+<!-- Pose -->
+<element name="pose" type="pose" default="0 0 0   0 0 0" required="0">
+  <description>
+    A position(x,y,z) and orientation(rpy or wxyz).
+  </description>
+
+  <attribute name="rotation_type" type="string" default="rpy_radians" required="*">
+    <description>
+      The type of rotation convention, which must be one of the following:
+      (rpy_radians) rotation in the form of (roll, pitch, yaw), in radians.
+      (rpy_degrees) rotation in the form of (roll, pitch, yaw), in degrees.
+      (q_wxyz) rotation in the form of a quaternion (w, x, y, z).
+    </description>
+  </attribute>
+
+</element> <!-- End Pose -->

sdf/1.9/urdf.sdf

@@ -6,7 +6,10 @@
     <description>A unique name for the model. This name must not match another model in the world.</description>
   </attribute>
 
-  <include filename="pose.sdf" required="0"/>
+  <element name="pose" type="pose" default="0 0 0 0 0 0" required="0">
+    <description>A position and orientation in the global coordinate frame for the model. Position(x,y,z) and rotation (roll, pitch yaw) in the global coordinate frame.</description>
+  </element>
+
   <include filename="link.sdf" required="+"/>
   <include filename="joint.sdf" required="*"/>
   <include filename="plugin.sdf" required="*"/>