Allow SDF model to be constructed in a single shot (#1560)

This PR tweaks the behavior of the physics system so that when constructing a model it will first check if a ModelSdf component is available for the entity. If so, it uses that component to fill in all the model information, overriding the fields that are given by the other entity components (e.g. name and pose). Signed-off-by: Michael X. Grey <[email protected]> Signed-off-by: Michael Carroll <[email protected]> Signed-off-by: ahcorde <[email protected]> Co-authored-by: Michael Carroll <[email protected]> Co-authored-by: ahcorde <[email protected]>
gazebosim · Nov 9, 2022 · 8ba08a8 · 8ba08a8
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diff --git a/examples/worlds/ackermann_steering.sdf b/examples/worlds/ackermann_steering.sdf
@@ -60,6 +60,10 @@
  <ode>
  <mu>50</mu>
  </ode>
+ <bullet>
+ <friction>1</friction>
+ <rolling_friction>0.1</rolling_friction>
+ </bullet>
  </friction>
  </surface>
  </collision>
@@ -156,6 +160,11 @@
  <mu2>1.0</mu2>
  <fdir1>0 0 1</fdir1>
  </ode>
+ <bullet>
+ <friction>0.5</friction>
+ <friction2>1</friction2>
+ <rolling_friction>0.1</rolling_friction>
+ </bullet>
  </friction>
  </surface>
  </collision>
@@ -201,6 +210,11 @@
  <mu2>1.0</mu2>
  <fdir1>0 0 1</fdir1>
  </ode>
+ <bullet>
+ <friction>0.5</friction>
+ <friction2>1</friction2>
+ <rolling_friction>0.5</rolling_friction>
+ </bullet>
  </friction>
  </surface>
  </collision>
@@ -246,6 +260,11 @@
  <mu2>1.0</mu2>
  <fdir1>0 0 1</fdir1>
  </ode>
+ <bullet>
+ <friction>0.5</friction>
+ <friction2>1</friction2>
+ <rolling_friction>0.1</rolling_friction>
+ </bullet>
  </friction>
  </surface>
  </collision>
@@ -291,6 +310,11 @@
  <mu2>1.0</mu2>
  <fdir1>0 0 1</fdir1>
  </ode>
+ <bullet>
+ <friction>0.5</friction>
+ <friction2>1</friction2>
+ <rolling_friction>0.5</rolling_friction>
+ </bullet>
  </friction>
  </surface>
  </collision>

diff --git a/examples/worlds/acoustic_comms_demo.sdf b/examples/worlds/acoustic_comms_demo.sdf
@@ -66,12 +66,12 @@
 
  <include>
  <pose>-5 0 0 0 0 0</pose>
- <uri>https://fuel.ignitionrobotics.org/1.0/mabelzhang/models/Turquoise turbidity generator</uri>
+ <uri>https://fuel.gazebosim.org/1.0/mabelzhang/models/Turquoise turbidity generator</uri>
  </include>
 
  <include>
  <pose>0 0 1 0 0 1.57</pose>
- <uri>https://fuel.ignitionrobotics.org/1.0/accurrent/models/MBARI Tethys LRAUV</uri>
+ <uri>https://fuel.gazebosim.org/1.0/accurrent/models/MBARI Tethys LRAUV</uri>
 
  <!-- Acoustic comms endpoint -->
  <plugin
@@ -172,7 +172,7 @@
 
  <include>
  <pose>15 0 1 0 0 1.57</pose>
- <uri>https://fuel.ignitionrobotics.org/1.0/accurrent/models/MBARI Tethys LRAUV</uri>
+ <uri>https://fuel.gazebosim.org/1.0/accurrent/models/MBARI Tethys LRAUV</uri>
  <name>triton</name>
 
  <!-- Acoustic comms endpoint -->
@@ -274,7 +274,7 @@
 
  <include>
  <pose>-15 0 1 0 0 1.57</pose>
- <uri>https://fuel.ignitionrobotics.org/1.0/accurrent/models/MBARI Tethys LRAUV</uri>
+ <uri>https://fuel.gazebosim.org/1.0/accurrent/models/MBARI Tethys LRAUV</uri>
  <name>daphne</name>
 
  <!-- Acoustic comms endpoint -->

diff --git a/examples/worlds/apply_link_wrench.sdf b/examples/worlds/apply_link_wrench.sdf
@@ -104,6 +104,15 @@
  <size>1 1 1</size>
  </box>
  </geometry>
+ <surface>
+ <friction>
+ <bullet>
+ <friction>0.7</friction>
+ <friction2>1</friction2>
+ <rolling_friction>0.2</rolling_friction>
+ </bullet>
+ </friction>
+ </surface>
  </collision>
 
  <visual name="visual">
@@ -142,6 +151,15 @@
  <length>1.0</length>
  </cylinder>
  </geometry>
+ <surface>
+ <friction>
+ <bullet>
+ <friction>0.7</friction>
+ <friction2>1</friction2>
+ <rolling_friction>0.2</rolling_friction>
+ </bullet>
+ </friction>
+ </surface>
  </collision>
 
  <visual name="visual">

diff --git a/examples/worlds/breadcrumbs.sdf b/examples/worlds/breadcrumbs.sdf
@@ -152,6 +152,11 @@
  <slip2>0</slip2>
  <fdir1>0 0 1</fdir1>
  </ode>
+ <bullet>
+ <friction>1</friction>
+ <friction2>1</friction2>
+ <rolling_friction>0.1</rolling_friction>
+ </bullet>
  </friction>
  </surface>
  </collision>
@@ -197,6 +202,11 @@
  <slip2>0</slip2>
  <fdir1>0 0 1</fdir1>
  </ode>
+ <bullet>
+ <friction>1</friction>
+ <friction2>1</friction2>
+ <rolling_friction>0.1</rolling_friction>
+ </bullet>
  </friction>
  </surface>
  </collision>
@@ -242,6 +252,11 @@
  <slip2>0</slip2>
  <fdir1>0 0 1</fdir1>
  </ode>
+ <bullet>
+ <friction>1</friction>
+ <friction2>1</friction2>
+ <rolling_friction>0.1</rolling_friction>
+ </bullet>
  </friction>
  </surface>
  </collision>
@@ -287,6 +302,11 @@
  <slip2>0</slip2>
  <fdir1>0 0 1</fdir1>
  </ode>
+ <bullet>
+ <friction>1</friction>
+ <friction2>1</friction2>
+ <rolling_friction>0.1</rolling_friction>
+ </bullet>
  </friction>
  </surface>
  </collision>

diff --git a/examples/worlds/buoyancy_engine.sdf b/examples/worlds/buoyancy_engine.sdf
@@ -41,13 +41,13 @@ until it breaches and then start oscillating around the surface. On the other
 hand the box on the right will rise forever as no surface is set.
 Enter the following in a separate terminal:
 ```
-gz topic -t /model/buoyant_box/buoyancy_engine/ -m gz.msgs.Double
+gz topic -t /model/buoyant_box/buoyancy_engine/ -m gz.msgs.Double \
  -p "data: 0.003"
 ```
 The boxes will float up. Note that the box on the left will start oscillating
 once it breaches the surface.
 ```
-gz topic -t /model/buoyant_box/buoyancy_engine/ -m gz.msgs.Double
+gz topic -t /model/buoyant_box/buoyancy_engine/ -m gz.msgs.Double \
  -p "data: 0.001"
 ```
 The boxes will go down.

diff --git a/examples/worlds/detachable_joint.sdf b/examples/worlds/detachable_joint.sdf
@@ -154,6 +154,11 @@
  <slip2>0</slip2>
  <fdir1>0 0 1</fdir1>
  </ode>
+ <bullet>
+ <friction>1</friction>
+ <friction2>1</friction2>
+ <rolling_friction>0.1</rolling_friction>
+ </bullet>
  </friction>
  </surface>
  </collision>
@@ -199,6 +204,11 @@
  <slip2>0</slip2>
  <fdir1>0 0 1</fdir1>
  </ode>
+ <bullet>
+ <friction>1</friction>
+ <friction2>1</friction2>
+ <rolling_friction>0.1</rolling_friction>
+ </bullet>
  </friction>
  </surface>
  </collision>
@@ -244,6 +254,11 @@
  <slip2>0</slip2>
  <fdir1>0 0 1</fdir1>
  </ode>
+ <bullet>
+ <friction>1</friction>
+ <friction2>1</friction2>
+ <rolling_friction>0.1</rolling_friction>
+ </bullet>
  </friction>
  </surface>
  </collision>
@@ -289,6 +304,11 @@
  <slip2>0</slip2>
  <fdir1>0 0 1</fdir1>
  </ode>
+ <bullet>
+ <friction>1</friction>
+ <friction2>1</friction2>
+ <rolling_friction>0.1</rolling_friction>
+ </bullet>
  </friction>
  </surface>
  </collision>

diff --git a/examples/worlds/diff_drive.sdf b/examples/worlds/diff_drive.sdf
@@ -144,6 +144,23 @@
  <radius>0.3</radius>
  </sphere>
  </geometry>
+ <surface>
+ <friction>
+ <ode>
+ <mu>1</mu>
+ <mu2>1</mu2>
+ <slip1>0.035</slip1>
+ <slip2>0</slip2>
+ <fdir1>0 0 1</fdir1>
+ </ode>
+ <bullet>
+ <friction>1</friction>
+ <friction2>1</friction2>
+ <rolling_friction>0.1</rolling_friction>
+ <spinning_friction>0.1</spinning_friction>
+ </bullet>
+ </friction>
+ </surface>
  </collision>
  </link>
 
@@ -178,6 +195,23 @@
  <radius>0.3</radius>
  </sphere>
  </geometry>
+ <surface>
+ <friction>
+ <ode>
+ <mu>1</mu>
+ <mu2>1</mu2>
+ <slip1>0.035</slip1>
+ <slip2>0</slip2>
+ <fdir1>0 0 1</fdir1>
+ </ode>
+ <bullet>
+ <friction>1</friction>
+ <friction2>1</friction2>
+ <rolling_friction>0.1</rolling_friction>
+ <spinning_friction>0.1</spinning_friction>
+ </bullet>
+ </friction>
+ </surface>
  </collision>
  </link>
 
@@ -332,6 +366,23 @@
  <radius>0.3</radius>
  </sphere>
  </geometry>
+ <surface>
+ <friction>
+ <ode>
+ <mu>1</mu>
+ <mu2>1</mu2>
+ <slip1>0.035</slip1>
+ <slip2>0</slip2>
+ <fdir1>0 0 1</fdir1>
+ </ode>
+ <bullet>
+ <friction>1</friction>
+ <friction2>1</friction2>
+ <rolling_friction>0.1</rolling_friction>
+ <spinning_friction>0.1</spinning_friction>
+ </bullet>
+ </friction>
+ </surface>
  </collision>
  </link>
 
@@ -366,6 +417,23 @@
  <radius>0.3</radius>
  </sphere>
  </geometry>
+ <surface>
+ <friction>
+ <ode>
+ <mu>1</mu>
+ <mu2>1</mu2>
+ <slip1>0.035</slip1>
+ <slip2>0</slip2>
+ <fdir1>0 0 1</fdir1>
+ </ode>
+ <bullet>
+ <friction>1</friction>
+ <friction2>1</friction2>
+ <rolling_friction>0.1</rolling_friction>
+ <spinning_friction>0.1</spinning_friction>
+ </bullet>
+ </friction>
+ </surface>
  </collision>
  </link>
 

diff --git a/examples/worlds/diff_drive_skid.sdf b/examples/worlds/diff_drive_skid.sdf
@@ -60,6 +60,11 @@
  <ode>
  <mu>50</mu>
  </ode>
+ <bullet>
+ <friction>1</friction>
+ <friction2>1</friction2>
+ <rolling_friction>0.1</rolling_friction>
+ </bullet>
  </friction>
  </surface>
  </collision>
@@ -154,6 +159,11 @@
  <mu2>1.0</mu2>
  <fdir1>0 0 1</fdir1>
  </ode>
+ <bullet>
+ <friction>1</friction>
+ <friction2>1</friction2>
+ <rolling_friction>0.1</rolling_friction>
+ </bullet>
  </friction>
  </surface>
  </collision>
@@ -197,6 +207,11 @@
  <mu2>1.0</mu2>
  <fdir1>0 0 1</fdir1>
  </ode>
+ <bullet>
+ <friction>1</friction>
+ <friction2>1</friction2>
+ <rolling_friction>0.1</rolling_friction>
+ </bullet>
  </friction>
  </surface>
  </collision>
@@ -240,6 +255,11 @@
  <mu2>1.0</mu2>
  <fdir1>0 0 1</fdir1>
  </ode>
+ <bullet>
+ <friction>1</friction>
+ <friction2>1</friction2>
+ <rolling_friction>0.1</rolling_friction>
+ </bullet>
  </friction>
  </surface>
  </collision>
@@ -283,6 +303,11 @@
  <mu2>1.0</mu2>
  <fdir1>0 0 1</fdir1>
  </ode>
+ <bullet>
+ <friction>1</friction>
+ <friction2>1</friction2>
+ <rolling_friction>0.1</rolling_friction>
+ </bullet>
  </friction>
  </surface>
  </collision>