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Allow SDF model to be constructed in a single shot #1560

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merged 12 commits into from
Nov 9, 2022
Merged

Allow SDF model to be constructed in a single shot #1560

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2b83447
Allow SDF model to be constructed in a single shot
mxgrey Jun 28, 2022
748960e
Fix bug that can cause segfault
mxgrey Jun 30, 2022
0426381
Fix joint entity creation behavior
mxgrey Jun 30, 2022
c4f5503
Just the ABI breaking parts of #1560
mjcarroll Jul 30, 2022
2d9ae7e
Add ability to resolve URIs
mjcarroll Sep 16, 2022
22e42ea
Add collision to entityCollisionMap
ahcorde Sep 30, 2022
1c6ee95
Add bullet params to diff drive vehicle
ahcorde Oct 6, 2022
5509662
Added more bullet params to examples
ahcorde Oct 7, 2022
bbda0ab
Improved some example sdf files
ahcorde Oct 27, 2022
55ebcd3
Change API call
ahcorde Oct 27, 2022
79fe3ba
Rebuild frame graph
mjcarroll Nov 4, 2022
8e6c8e2
Merge branch 'gz-sim7' into merge-full-model-construction
mjcarroll Nov 7, 2022
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24 changes: 24 additions & 0 deletions examples/worlds/ackermann_steering.sdf
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Original file line number Diff line number Diff line change
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>
Expand Down Expand Up @@ -156,6 +160,11 @@
<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>
Expand Down Expand Up @@ -201,6 +210,11 @@
<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>
Expand Down Expand Up @@ -246,6 +260,11 @@
<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>
Expand Down Expand Up @@ -291,6 +310,11 @@
<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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Original file line number Diff line number Diff line change
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
Expand Down Expand Up @@ -172,7 +172,7 @@

<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>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 -->
Expand Down
18 changes: 18 additions & 0 deletions examples/worlds/apply_link_wrench.sdf
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Original file line number Diff line number Diff line change
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">
Expand Down Expand Up @@ -142,6 +151,15 @@
<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">
Expand Down
20 changes: 20 additions & 0 deletions examples/worlds/breadcrumbs.sdf
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Original file line number Diff line number Diff line change
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>
Expand Down Expand Up @@ -197,6 +202,11 @@
<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>
Expand Down Expand Up @@ -242,6 +252,11 @@
<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>
Expand Down Expand Up @@ -287,6 +302,11 @@
<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>
Expand Down
4 changes: 2 additions & 2 deletions examples/worlds/buoyancy_engine.sdf
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Original file line number Diff line number Diff line change
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.
Expand Down
20 changes: 20 additions & 0 deletions examples/worlds/detachable_joint.sdf
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Original file line number Diff line number Diff line change
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>
Expand Down Expand Up @@ -199,6 +204,11 @@
<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>
Expand Down Expand Up @@ -244,6 +254,11 @@
<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>
Expand Down Expand Up @@ -289,6 +304,11 @@
<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>
Expand Down
68 changes: 68 additions & 0 deletions examples/worlds/diff_drive.sdf
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Original file line number Diff line number Diff line change
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>

Expand Down
25 changes: 25 additions & 0 deletions examples/worlds/diff_drive_skid.sdf
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Original file line number Diff line number Diff line change
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>
Expand Down Expand Up @@ -154,6 +159,11 @@
<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>
Expand Down Expand Up @@ -197,6 +207,11 @@
<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>
Expand Down Expand Up @@ -240,6 +255,11 @@
<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>
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>
Expand Down
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