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bullet-featherstone: implement ConstructSdfNestedModel feature #546
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Mar 6, 2024
Extended bullet-featurestone implementation to support these features related to nested models: * ConstructSdfJoint (limited to creating fixed joints to the world) * ConstructSdfNestedModel * GetNestedModelFromModel * WorldModelFeature * RemoveEntities The nested models are currently added to a single multibody since bullet-featherstone does not currently support joints between two different multibodies. The nested model keeps a shared ptr to the root link's btMultibody. With the addition of the above features, more common tests are now being run using bullet-feathersone plugin. Closes #546, #547. Signed-off-by: Shameek Ganguly <shameekarcanesphinx@gmail.com> Signed-off-by: Steve Peters <scpeters@openrobotics.org> Signed-off-by: Ian Chen <ichen@openrobotics.org> Co-authored-by: Shameek Ganguly <shameekarcanesphinx@gmail.com> Co-authored-by: Steve Peters <scpeters@openrobotics.org>
feature implemented in #574 |
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Part of #545.
Desired behavior
Implement the
gz::physics::sdf::ConstructSdfNestedModel
in bullet-featherstone.Alternatives considered
Implementation suggestion
Reference implementation in the dartsim plugin.
Additional context
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