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New Apply Link Wrench system #1593

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merged 12 commits into from
Jul 23, 2022
Merged

New Apply Link Wrench system #1593

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da1b5bc
New Apply Link Wrench system
chapulina Jul 14, 2022
93bbb65
Helper function to get an entity from an entity message
chapulina Jul 15, 2022
c8c0d4f
Merge branch 'ign-gazebo3' into chapulina/3/entity_from_msg
chapulina Jul 15, 2022
47f3f52
merged from chapulina/3/entity_from_msg
chapulina Jul 15, 2022
a973354
persistent wrenches
chapulina Jul 15, 2022
4607a68
Fix crash
chapulina Jul 15, 2022
2d585b2
fix demo
chapulina Jul 15, 2022
0cb9855
starting tests
chapulina Jul 16, 2022
3813915
iterating on tests
chapulina Jul 18, 2022
91bba16
merged from ign-gazebo3
chapulina Jul 19, 2022
6e74d3f
fix test and example
chapulina Jul 19, 2022
cc2bdb1
PR feedback and test deflaking?
chapulina Jul 22, 2022
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163 changes: 163 additions & 0 deletions examples/worlds/apply_link_wrench.sdf
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Original file line number Diff line number Diff line change
@@ -0,0 +1,163 @@
<?xml version="1.0" ?>
<!--

Demostrates the ApplyLinkWrench plugin.

When simulation starts, the box model starts moving due to the persistent force defined in this file.

Wrenches can also be applied through transport.
For example, apply a force to the cylinder model (i.e. its canonical link) with:

ign topic -t "/world/apply_link_wrench/wrench" -m ignition.msgs.EntityWrench -p "entity: {name: 'cylinder', type: MODEL}, wrench: {force: {y: 1000, z: 10000}}"

Apply a wrench to the cylinder link with:

ign topic -t "/world/apply_link_wrench/wrench" -m ignition.msgs.EntityWrench -p "entity: {name: 'cylinder::link', type: LINK}, wrench: {force: {y: -1000, z: 10000}, torque: {x: -1000}}"

Clear the persistent force from the box with:

ign topic -t "/world/apply_link_wrench/wrench/clear" -m ignition.msgs.Entity -p "name: 'box', type: MODEL"

Apply a persistent force to the cylinder with:

ign topic -t "/world/apply_link_wrench/wrench/persistent" -m ignition.msgs.EntityWrench -p "entity: {name: 'cylinder', type: MODEL}, wrench: {force: {x: -20}}"
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-->
<sdf version="1.6">
<world name="apply_link_wrench">
<plugin
filename="ignition-gazebo-physics-system"
name="ignition::gazebo::systems::Physics">
</plugin>
<plugin
filename="ignition-gazebo-scene-broadcaster-system"
name="ignition::gazebo::systems::SceneBroadcaster">
</plugin>
<plugin
filename="ignition-gazebo-apply-link-wrench-system"
name="ignition::gazebo::systems::ApplyLinkWrench">
<persistent>
<entity_name>box</entity_name>
<entity_type>model</entity_type>
<force>-10 0 0</force>
<torque>0 0 0.1</torque>
</persistent>
</plugin>

<light type="directional" name="sun">
<cast_shadows>true</cast_shadows>
<pose>0 0 10 0 0 0</pose>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.2 0.2 0.2 1</specular>
<attenuation>
<range>1000</range>
<constant>0.9</constant>
<linear>0.01</linear>
<quadratic>0.001</quadratic>
</attenuation>
<direction>-0.5 0.1 -0.9</direction>
</light>
<model name="ground_plane">
<static>true</static>
<link name="link">
<collision name="collision">
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
</collision>
<visual name="visual">
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<material>
<ambient>0.8 0.8 0.8 1</ambient>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.8 0.8 0.8 1</specular>
</material>
</visual>
</link>
</model>

<model name="box">
<pose>0 -2 0.5 0 0 0</pose>
<link name="link">
<inertial>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
<mass>1.0</mass>
</inertial>
<collision name="collision">
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
</collision>

<visual name="visual">
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
<material>
<ambient>1 0 0 1</ambient>
<diffuse>1 0 0 1</diffuse>
<specular>1 0 0 1</specular>
</material>
</visual>
</link>
</model>

<model name="cylinder">
<pose>0 2 0.5 0 0 0</pose>
<link name="link">
<inertial>
<inertia>
<ixx>2</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>2</iyy>
<iyz>0</iyz>
<izz>2</izz>
</inertia>
<mass>2.0</mass>
</inertial>
<collision name="collision">
<geometry>
<cylinder>
<radius>0.5</radius>
<length>1.0</length>
</cylinder>
</geometry>
</collision>

<visual name="visual">
<geometry>
<cylinder>
<radius>0.5</radius>
<length>1.0</length>
</cylinder>
</geometry>
<material>
<ambient>0 1 0 1</ambient>
<diffuse>0 1 0 1</diffuse>
<specular>0 1 0 1</specular>
</material>
</visual>
</link>
</model>
</world>
</sdf>
3 changes: 1 addition & 2 deletions src/Util_TEST.cc
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Expand Up @@ -279,8 +279,7 @@ TEST_F(UtilTest, EntitiesFromScopedName)
Entity _relativeTo, const std::unordered_set<Entity> &_result,
const std::string &_delim)
{
auto res = gazebo::entitiesFromScopedName(_scopedName, ecm, _relativeTo,
_delim);
auto res = entitiesFromScopedName(_scopedName, ecm, _relativeTo, _delim);
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EXPECT_EQ(_result.size(), res.size()) << _scopedName;

for (auto it : _result)
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1 change: 1 addition & 0 deletions src/systems/CMakeLists.txt
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Expand Up @@ -81,6 +81,7 @@ endfunction()
add_subdirectory(air_pressure)
add_subdirectory(altimeter)
add_subdirectory(apply_joint_force)
add_subdirectory(apply_link_wrench)
add_subdirectory(battery_plugin)
add_subdirectory(breadcrumbs)
add_subdirectory(buoyancy)
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