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Allow SDF model to be constructed in a single shot (#1560)
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This PR tweaks the behavior of the physics system so that when constructing a model it will first check if a ModelSdf component is available for the entity. If so, it uses that component to fill in all the model information, overriding the fields that are given by the other entity components (e.g. name and pose).


Signed-off-by: Michael X. Grey <grey@openrobotics.org>
Signed-off-by: Michael Carroll <michael@openrobotics.org>
Signed-off-by: ahcorde <ahcorde@gmail.com>
Co-authored-by: Michael Carroll <michael@openrobotics.org>
Co-authored-by: ahcorde <ahcorde@gmail.com>
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@mxgrey @mjcarroll @ahcorde
3 people authored Nov 9, 2022
1 parent 5a15834 commit 8ba08a8
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Showing 32 changed files with 584 additions and 61 deletions.
24 changes: 24 additions & 0 deletions examples/worlds/ackermann_steering.sdf
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Expand Up @@ -60,6 +60,10 @@
<ode>
<mu>50</mu>
</ode>
<bullet>
<friction>1</friction>
<rolling_friction>0.1</rolling_friction>
</bullet>
</friction>
</surface>
</collision>
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<mu2>1.0</mu2>
<fdir1>0 0 1</fdir1>
</ode>
<bullet>
<friction>0.5</friction>
<friction2>1</friction2>
<rolling_friction>0.1</rolling_friction>
</bullet>
</friction>
</surface>
</collision>
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<mu2>1.0</mu2>
<fdir1>0 0 1</fdir1>
</ode>
<bullet>
<friction>0.5</friction>
<friction2>1</friction2>
<rolling_friction>0.5</rolling_friction>
</bullet>
</friction>
</surface>
</collision>
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<mu2>1.0</mu2>
<fdir1>0 0 1</fdir1>
</ode>
<bullet>
<friction>0.5</friction>
<friction2>1</friction2>
<rolling_friction>0.1</rolling_friction>
</bullet>
</friction>
</surface>
</collision>
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<mu2>1.0</mu2>
<fdir1>0 0 1</fdir1>
</ode>
<bullet>
<friction>0.5</friction>
<friction2>1</friction2>
<rolling_friction>0.5</rolling_friction>
</bullet>
</friction>
</surface>
</collision>
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8 changes: 4 additions & 4 deletions examples/worlds/acoustic_comms_demo.sdf
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Expand Up @@ -66,12 +66,12 @@

<include>
<pose>-5 0 0 0 0 0</pose>
<uri>https://fuel.ignitionrobotics.org/1.0/mabelzhang/models/Turquoise turbidity generator</uri>
<uri>https://fuel.gazebosim.org/1.0/mabelzhang/models/Turquoise turbidity generator</uri>
</include>

<include>
<pose>0 0 1 0 0 1.57</pose>
<uri>https://fuel.ignitionrobotics.org/1.0/accurrent/models/MBARI Tethys LRAUV</uri>
<uri>https://fuel.gazebosim.org/1.0/accurrent/models/MBARI Tethys LRAUV</uri>

<!-- Acoustic comms endpoint -->
<plugin
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<include>
<pose>15 0 1 0 0 1.57</pose>
<uri>https://fuel.ignitionrobotics.org/1.0/accurrent/models/MBARI Tethys LRAUV</uri>
<uri>https://fuel.gazebosim.org/1.0/accurrent/models/MBARI Tethys LRAUV</uri>
<name>triton</name>

<!-- Acoustic comms endpoint -->
Expand Down Expand Up @@ -274,7 +274,7 @@

<include>
<pose>-15 0 1 0 0 1.57</pose>
<uri>https://fuel.ignitionrobotics.org/1.0/accurrent/models/MBARI Tethys LRAUV</uri>
<uri>https://fuel.gazebosim.org/1.0/accurrent/models/MBARI Tethys LRAUV</uri>
<name>daphne</name>

<!-- Acoustic comms endpoint -->
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18 changes: 18 additions & 0 deletions examples/worlds/apply_link_wrench.sdf
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Expand Up @@ -104,6 +104,15 @@
<size>1 1 1</size>
</box>
</geometry>
<surface>
<friction>
<bullet>
<friction>0.7</friction>
<friction2>1</friction2>
<rolling_friction>0.2</rolling_friction>
</bullet>
</friction>
</surface>
</collision>

<visual name="visual">
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<length>1.0</length>
</cylinder>
</geometry>
<surface>
<friction>
<bullet>
<friction>0.7</friction>
<friction2>1</friction2>
<rolling_friction>0.2</rolling_friction>
</bullet>
</friction>
</surface>
</collision>

<visual name="visual">
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20 changes: 20 additions & 0 deletions examples/worlds/breadcrumbs.sdf
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Expand Up @@ -152,6 +152,11 @@
<slip2>0</slip2>
<fdir1>0 0 1</fdir1>
</ode>
<bullet>
<friction>1</friction>
<friction2>1</friction2>
<rolling_friction>0.1</rolling_friction>
</bullet>
</friction>
</surface>
</collision>
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<slip2>0</slip2>
<fdir1>0 0 1</fdir1>
</ode>
<bullet>
<friction>1</friction>
<friction2>1</friction2>
<rolling_friction>0.1</rolling_friction>
</bullet>
</friction>
</surface>
</collision>
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<slip2>0</slip2>
<fdir1>0 0 1</fdir1>
</ode>
<bullet>
<friction>1</friction>
<friction2>1</friction2>
<rolling_friction>0.1</rolling_friction>
</bullet>
</friction>
</surface>
</collision>
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<slip2>0</slip2>
<fdir1>0 0 1</fdir1>
</ode>
<bullet>
<friction>1</friction>
<friction2>1</friction2>
<rolling_friction>0.1</rolling_friction>
</bullet>
</friction>
</surface>
</collision>
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4 changes: 2 additions & 2 deletions examples/worlds/buoyancy_engine.sdf
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Expand Up @@ -41,13 +41,13 @@ until it breaches and then start oscillating around the surface. On the other
hand the box on the right will rise forever as no surface is set.
Enter the following in a separate terminal:
```
gz topic -t /model/buoyant_box/buoyancy_engine/ -m gz.msgs.Double
gz topic -t /model/buoyant_box/buoyancy_engine/ -m gz.msgs.Double \
-p "data: 0.003"
```
The boxes will float up. Note that the box on the left will start oscillating
once it breaches the surface.
```
gz topic -t /model/buoyant_box/buoyancy_engine/ -m gz.msgs.Double
gz topic -t /model/buoyant_box/buoyancy_engine/ -m gz.msgs.Double \
-p "data: 0.001"
```
The boxes will go down.
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20 changes: 20 additions & 0 deletions examples/worlds/detachable_joint.sdf
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Expand Up @@ -154,6 +154,11 @@
<slip2>0</slip2>
<fdir1>0 0 1</fdir1>
</ode>
<bullet>
<friction>1</friction>
<friction2>1</friction2>
<rolling_friction>0.1</rolling_friction>
</bullet>
</friction>
</surface>
</collision>
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<slip2>0</slip2>
<fdir1>0 0 1</fdir1>
</ode>
<bullet>
<friction>1</friction>
<friction2>1</friction2>
<rolling_friction>0.1</rolling_friction>
</bullet>
</friction>
</surface>
</collision>
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<slip2>0</slip2>
<fdir1>0 0 1</fdir1>
</ode>
<bullet>
<friction>1</friction>
<friction2>1</friction2>
<rolling_friction>0.1</rolling_friction>
</bullet>
</friction>
</surface>
</collision>
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<slip2>0</slip2>
<fdir1>0 0 1</fdir1>
</ode>
<bullet>
<friction>1</friction>
<friction2>1</friction2>
<rolling_friction>0.1</rolling_friction>
</bullet>
</friction>
</surface>
</collision>
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68 changes: 68 additions & 0 deletions examples/worlds/diff_drive.sdf
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Expand Up @@ -144,6 +144,23 @@
<radius>0.3</radius>
</sphere>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<slip1>0.035</slip1>
<slip2>0</slip2>
<fdir1>0 0 1</fdir1>
</ode>
<bullet>
<friction>1</friction>
<friction2>1</friction2>
<rolling_friction>0.1</rolling_friction>
<spinning_friction>0.1</spinning_friction>
</bullet>
</friction>
</surface>
</collision>
</link>

Expand Down Expand Up @@ -178,6 +195,23 @@
<radius>0.3</radius>
</sphere>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<slip1>0.035</slip1>
<slip2>0</slip2>
<fdir1>0 0 1</fdir1>
</ode>
<bullet>
<friction>1</friction>
<friction2>1</friction2>
<rolling_friction>0.1</rolling_friction>
<spinning_friction>0.1</spinning_friction>
</bullet>
</friction>
</surface>
</collision>
</link>

Expand Down Expand Up @@ -332,6 +366,23 @@
<radius>0.3</radius>
</sphere>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<slip1>0.035</slip1>
<slip2>0</slip2>
<fdir1>0 0 1</fdir1>
</ode>
<bullet>
<friction>1</friction>
<friction2>1</friction2>
<rolling_friction>0.1</rolling_friction>
<spinning_friction>0.1</spinning_friction>
</bullet>
</friction>
</surface>
</collision>
</link>

Expand Down Expand Up @@ -366,6 +417,23 @@
<radius>0.3</radius>
</sphere>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<slip1>0.035</slip1>
<slip2>0</slip2>
<fdir1>0 0 1</fdir1>
</ode>
<bullet>
<friction>1</friction>
<friction2>1</friction2>
<rolling_friction>0.1</rolling_friction>
<spinning_friction>0.1</spinning_friction>
</bullet>
</friction>
</surface>
</collision>
</link>

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25 changes: 25 additions & 0 deletions examples/worlds/diff_drive_skid.sdf
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Expand Up @@ -60,6 +60,11 @@
<ode>
<mu>50</mu>
</ode>
<bullet>
<friction>1</friction>
<friction2>1</friction2>
<rolling_friction>0.1</rolling_friction>
</bullet>
</friction>
</surface>
</collision>
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<mu2>1.0</mu2>
<fdir1>0 0 1</fdir1>
</ode>
<bullet>
<friction>1</friction>
<friction2>1</friction2>
<rolling_friction>0.1</rolling_friction>
</bullet>
</friction>
</surface>
</collision>
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<mu2>1.0</mu2>
<fdir1>0 0 1</fdir1>
</ode>
<bullet>
<friction>1</friction>
<friction2>1</friction2>
<rolling_friction>0.1</rolling_friction>
</bullet>
</friction>
</surface>
</collision>
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<mu2>1.0</mu2>
<fdir1>0 0 1</fdir1>
</ode>
<bullet>
<friction>1</friction>
<friction2>1</friction2>
<rolling_friction>0.1</rolling_friction>
</bullet>
</friction>
</surface>
</collision>
Expand Down Expand Up @@ -283,6 +303,11 @@
<mu2>1.0</mu2>
<fdir1>0 0 1</fdir1>
</ode>
<bullet>
<friction>1</friction>
<friction2>1</friction2>
<rolling_friction>0.1</rolling_friction>
</bullet>
</friction>
</surface>
</collision>
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