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Merge 6 -> 7 #602

Merged
merged 3 commits into from
Mar 7, 2024
Merged

Merge 6 -> 7 #602

merged 3 commits into from
Mar 7, 2024

Commits on Mar 6, 2024

  1. bullet-featherstone: Support nested models (#574) 

    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]>
    @iche033 @shameekganguly @scpeters
    3 people authored Mar 6, 2024
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Commits on Mar 7, 2024

  1. bullet-featherstone: Improve mesh collision stability (#600) 

    * Tune erp2 and mesh margin
* increase tol in joint features test

Signed-off-by: Ian Chen <[email protected]>
    @iche033
    iche033 authored Mar 7, 2024
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  2. Merge branch 'gz-physics6' into merge_6_7_20240306 

    Signed-off-by: Ian Chen <[email protected]>
    @iche033
    iche033 committed Mar 7, 2024
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