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Support nested model #258

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merged 26 commits into from
Oct 14, 2020
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739f3e7
created nested model entities, add test
iche033 Jul 7, 2020
a7000fc
update physics system to work with nested models
iche033 Jul 18, 2020
ca2d3cb
fix freegroup set world pose
iche033 Jul 21, 2020
773eb02
fix codecheck errors
iche033 Jul 21, 2020
a262cf2
check empty nested model
iche033 Jul 22, 2020
91abd0a
operator
iche033 Jul 29, 2020
4010cdf
use ConstructNestedModel feature
iche033 Aug 1, 2020
c526eb4
limit one canonical link, override static, use world construct nested…
iche033 Aug 8, 2020
88e668b
add comment on use of relative pose
iche033 Aug 8, 2020
6db69f4
override static, disable pose cmd for nested model
iche033 Aug 13, 2020
4519590
prevent setting cmds to nested models
iche033 Aug 13, 2020
fcbf0dd
fix pose updates sent to rendering
iche033 Sep 1, 2020
d48ff53
Merge branch 'ign-gazebo3' into nested_model
iche033 Sep 2, 2020
256d4db
Merge branch 'ign-gazebo3' into nested_model
iche033 Sep 3, 2020
d0ae0ec
remove <gui> from nested model example world
iche033 Sep 3, 2020
a71a3d2
move top level model function, add more tests
iche033 Sep 19, 2020
24f8db9
Merge branch 'ign-gazebo3' into nested_model
iche033 Sep 19, 2020
b9c179b
Merge branch 'ign-gazebo3' into nested_model
iche033 Sep 19, 2020
4a16b55
update log record and playback test
iche033 Sep 19, 2020
600575a
Merge branch 'ign-gazebo3' into nested_model
iche033 Sep 30, 2020
6b74143
add informed
iche033 Sep 30, 2020
3549019
Merge branch 'ign-gazebo3' into nested_model
iche033 Oct 2, 2020
6bb5bd9
Merge branch 'ign-gazebo3' into nested_model
iche033 Oct 7, 2020
8edfd1a
Merge branch 'ign-gazebo3' into nested_model
iche033 Oct 10, 2020
44cd092
bump sdformat9 dep version
iche033 Oct 10, 2020
fc2d91d
fix codecheck
iche033 Oct 14, 2020
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add informed
Signed-off-by: Ian Chen <[email protected]>
  • Loading branch information
iche033 committed Sep 30, 2020
commit 6b741439ba65dd7cec865b1e31b7c7511c5a55e8
2 changes: 1 addition & 1 deletion examples/worlds/nested_model.sdf
Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@
<?xml version="1.0" ?>
<sdf version="1.6">
<sdf version="1.7">
<world name="nested_model_world">
<physics name="1ms" type="ignored">
<max_step_size>0.001</max_step_size>
15 changes: 10 additions & 5 deletions src/systems/physics/Physics.cc
Original file line number Diff line number Diff line change
@@ -764,11 +764,16 @@ void PhysicsPrivate::CreatePhysicsEntities(const EntityComponentManager &_ecm)
this->entityModelNestedModelMap);
if (!nestedModelFeature)
{
igndbg << "Attempting to construct nested models, but the physics"
<< " engine doesn't support feature "
<< "[ConstructSdfNestedModelFeature]. "
<< "Nested model will be ignored."
<< std::endl;
static bool informed{false};
if (!informed)
{
igndbg << "Attempting to construct nested models, but the physics"
<< " engine doesn't support feature "
<< "[ConstructSdfNestedModelFeature]. "
<< "Nested model will be ignored."
<< std::endl;
informed = true;
}
return true;
}