Support FreeGroup features for nested models #231
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chapulina
added
DART
8 tasks
|
Removing from beta, this can come in a minor release. |
chapulina
reviewed
Mar 25, 2021
|
@azeey , can this be moved from "In progress" to "In review"? |
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No, this is still in-progress. I'll mark it as draft until it's ready. |
Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
Codecov Report
@@ Coverage Diff @@
## ign-physics4 #231 +/- ##
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+ Coverage 75.30% 75.75% +0.45%
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Files 125 125
Lines 5463 5503 +40
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+ Hits 4114 4169 +55
+ Misses 1349 1334 -15
Continue to review full report at Codecov.
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scpeters
reviewed
Jul 9, 2021
Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
scpeters
reviewed
Jul 11, 2021
Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
chapulina
approved these changes
Jul 16, 2021
12 tasks
3 tasks
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🎉 New feature
Summary
This enables FreeGroups to work with nested models
Requires:
[dartsim] Fix joint construction errors due to link name duplication or BodyNodes moving to other skeletons #220[dartsim] Ensure Link and Model APIs continue to work after joint creation in DART #227[dartsim] Add empty nested model construction and nested model entity management #228[tpe] Add empty nested model construction and nested model entity management #229Remove nested models #230Test it
nested_models.sdfexample world in ign-gazebo and use the transform tool to move the model.ign gazebo --physics-engine ignition-physics-tpe-plugin -v 4 nested_model.sdfign gazebo --physics-engine ignition-physics-dartsim-plugin -v 4 nested_model.sdfBefore
nested_freegroup_before.mp4
After
nested_freegroup_after.mp4
Checklist
codecheckpassed (See contributing)Note to maintainers: Remember to use Squash-Merge