Support world joints (joints inside <world> tags) #1949
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Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
azeey
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ahcorde
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Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
Codecov Report
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## gz-sim7 #1949 +/- ##
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Coverage 64.98% 64.99%
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Files 353 353
Lines 28600 28621 +21
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+ Hits 18585 18601 +16
- Misses 10015 10020 +5
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azeey
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@osrf-jenkins run tests please |
Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
marcoag
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Jun 13, 2023
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As of gazebosim/sdformat#1117, SDFormat supports joints under world (//world/joint in xpath). This PR adds support for it in gz-sim. Note that some systems that operate on joints, such as the JointPositionController, require that the system is instantiated inside a model, and therefore, will not work with world joints. It's not clear whether this is a real problem since world joints are most likely to be fixed joints used to attach two models together. Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> Signed-off-by: Bac0nEater <thenickys123@gmail.com>
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🎉 New feature
Summary
As of gazebosim/sdformat#1117, SDFormat supports joints under world (
//world/jointin xpath). This PR adds support for it in gz-sim.Note that some systems that operate on joints, such as the
JointPositionController, require that the system is instantiated inside a model, and therefore, will not work with world joints. It's not clear whether this is a real problem since world joints are most likely to be fixed joints used to attach two models together.Needs: gazebosim/gz-physics#501
Test it
A new test
JointsInWorldhas been added totest/integration/physics_system.cc.Checklist
codecheckpassed (See contributing)Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining
Signed-off-bymessages.