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Update SdfGenerator to save joint data to file #1220

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merged 4 commits into from
Nov 30, 2021
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iche033
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@iche033 iche033 commented Nov 20, 2021

🎉 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::Joint component does not store a sdf::Joint DOM 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.

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Checklist

  • Signed all commits for DCO
  • Added tests
  • Added example and/or tutorial
  • Updated documentation (as needed)
  • Updated migration guide (as needed)
  • codecheck passed (See contributing)
  • All tests passed (See test coverage)
  • While waiting for a review on your PR, please help review another open pull request to support the maintainers

Note to maintainers: Remember to use Squash-Merge

Signed-off-by: Ian Chen <[email protected]>
@chapulina chapulina added the editor Tools to edit entities in simulation label Nov 20, 2021
test/integration/save_world.cc Outdated Show resolved Hide resolved
@nkoenig nkoenig mentioned this pull request Nov 23, 2021
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nkoenig commented Nov 30, 2021

I'm going to merge this done in order to speed up and consolidate the CI tests.

@nkoenig nkoenig merged commit 191ff6f into save_lights Nov 30, 2021
@nkoenig nkoenig deleted the save_joints branch November 30, 2021 17:24
nkoenig pushed a commit that referenced this pull request 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 pushed a commit that referenced this pull request 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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4 participants