Update SdfGenerator to save joint data to file #1220
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Signed-off-by: Ian Chen <[email protected]>
ahcorde
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Nov 22, 2021
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Signed-off-by: Ian Chen <[email protected]>
Signed-off-by: Nate Koenig <[email protected]>
nkoenig
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Nov 30, 2021
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I'm going to merge this done in order to speed up and consolidate the CI tests. |
nkoenig
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Nov 30, 2021
* save lights Signed-off-by: Ian Chen <[email protected]> * fix doc Signed-off-by: Ian Chen <[email protected]> * use updated api Signed-off-by: Ian Chen <[email protected]> * Update SdfGenerator to save joint data to file (#1220) * save joints Signed-off-by: Ian Chen <[email protected]> * use joinPaths Signed-off-by: Ian Chen <[email protected]> * Only output thread_pitch for screw joints Signed-off-by: Nate Koenig <[email protected]> Co-authored-by: Nate Koenig <[email protected]> Co-authored-by: Nate Koenig <[email protected]>
nkoenig
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Dec 1, 2021
* update more model properties and add code to update link properties Signed-off-by: Ian Chen <[email protected]> * update sensors, and add test Signed-off-by: Ian Chen <[email protected]> * Suggestion to #1170 Signed-off-by: Nate Koenig <[email protected]> * update to use new api Signed-off-by: Ian Chen <[email protected]> * use updated api Signed-off-by: Ian Chen <[email protected]> * require sdf 12.2 Signed-off-by: Nate Koenig <[email protected]> * Update SdfGenerator to save light data to file (#1209) * save lights Signed-off-by: Ian Chen <[email protected]> * fix doc Signed-off-by: Ian Chen <[email protected]> * use updated api Signed-off-by: Ian Chen <[email protected]> * Update SdfGenerator to save joint data to file (#1220) * save joints Signed-off-by: Ian Chen <[email protected]> * use joinPaths Signed-off-by: Ian Chen <[email protected]> * Only output thread_pitch for screw joints Signed-off-by: Nate Koenig <[email protected]> Co-authored-by: Nate Koenig <[email protected]> Co-authored-by: Nate Koenig <[email protected]> * Fix test Signed-off-by: Nate Koenig <[email protected]> Co-authored-by: Nate Koenig <[email protected]>
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🎉 New feature
depends on:
Summary
similar to #1209, this PR extends SdfGenerator to pull joint data from ECM and save them to SDF file.
Note that the
components::Jointcomponent does not store asdf::JointDOM object. Various joint properties are stored in different Joint* components, and currently ign-gazebo does not have components for all joint properties. So as the result, not all joint properties can be saved to sdf file.Test it
Checklist
codecheckpassed (See contributing)Note to maintainers: Remember to use Squash-Merge