Support world joints (joints inside <world> tags) #1949
Merged
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🎉 New feature
Summary
As of gazebosim/sdformat#1117, SDFormat supports joints under world (
//world/joint
in xpath). This PR adds support for it in gz-sim.Note that some systems that operate on joints, such as the
JointPositionController
, require that the system is instantiated inside a model, and therefore, will not work with world joints. It's not clear whether this is a real problem since world joints are most likely to be fixed joints used to attach two models together.Needs: gazebosim/gz-physics#501
Test it
A new test
JointsInWorld
has been added totest/integration/physics_system.cc
.Checklist
codecheck
passed (See contributing)Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining
Signed-off-by
messages.