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bullet-featherstone: implement ConstructSdfNestedModel feature #546

Closed
Tracked by #545
scpeters opened this issue Sep 20, 2023 · 1 comment · Fixed by #574
Closed
Tracked by #545

bullet-featherstone: implement ConstructSdfNestedModel feature #546

scpeters opened this issue Sep 20, 2023 · 1 comment · Fixed by #574
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Bullet Bullet engine enhancement New feature or request

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@scpeters
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Part of #545.

Desired behavior

Implement the gz::physics::sdf::ConstructSdfNestedModel in bullet-featherstone.

Alternatives considered

Implementation suggestion

Reference implementation in the dartsim plugin.

Additional context
@scpeters scpeters added the enhancement New feature or request label Sep 20, 2023
@scpeters scpeters mentioned this issue Sep 20, 2023
Open
10 tasks
@scpeters scpeters added the Bullet Bullet engine label Sep 20, 2023
@iche033 iche033 mentioned this issue Nov 14, 2023
Merged
9 tasks
scpeters added a commit that referenced this issue Mar 6, 2024
@iche033 @shameekganguly @scpeters
bullet-featherstone: Support nested models (#574)
18e0dad 
Extended bullet-featurestone implementation to
support these features related to nested models:

* ConstructSdfJoint (limited to creating fixed joints
  to the world)
* ConstructSdfNestedModel
* GetNestedModelFromModel
* WorldModelFeature
* RemoveEntities

The nested models are currently added to a single
multibody since bullet-featherstone does not currently
support joints between two different multibodies.
The nested model keeps a shared ptr to the root link's
btMultibody.

With the addition of the above features, more common
tests are now being run using bullet-feathersone plugin.

Closes #546, #547.

Signed-off-by: Shameek Ganguly <[email protected]>
Signed-off-by: Steve Peters <[email protected]>
Signed-off-by: Ian Chen <[email protected]>
Co-authored-by: Shameek Ganguly <[email protected]>
Co-authored-by: Steve Peters <[email protected]>
@scpeters
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scpeters commented Mar 6, 2024

feature implemented in #574

@scpeters scpeters closed this as completed Mar 6, 2024
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Labels
Bullet Bullet engine enhancement New feature or request
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bullet-featherstone: Support nested models gazebosim/gz-physics
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@scpeters