Is it possible to use a scoped name inside the <drake:child> SDF tag? I would like to attach a link from another model to a link in the current model with a planar joint, but Drake throws an error when I try to do this. This appears to be the case with <drake:parent> as well.
<model name="test">
<include>
<uri>package://drake/manipulation/models/iiwa_description/sdf/iiwa14_polytope_collision.sdf</uri>
<name>robot</name>
</include>
<link name="b">
<!-- Works, but I want this to be a planar joint -->
<joint name="b_to_robot" type="fixed">
<parent>b</parent>
<child>robot::iiwa_link_0</child>
</joint>
<!-- Doesn't work: 'Frame 'robot::iiwa_link_0' specified for <drake:child> does not exist in the model' -->
<drake:joint name="b_to_a" type="planar">
<drake:parent>b</drake:parent>
<drake:child>robot::iiwa_link_0</drake:child>
<drake:damping>0.0 0.0 0.0</drake:damping>
</drake:joint>
</model>
Am I doing something incorrectly, is this a bug, or is this something that is not currently supported?
Thanks for the question. I've just started looking into this, but my first impressions are leaning towards "bug". I'll update here with further findings.