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Prototype system for initializing model state #2359

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Prototype system for initializing model state #2359

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562e29e
SetModelState: prototype system
scpeters Apr 4, 2024
7882ab9
Use axis_state, axis2_state
scpeters Apr 4, 2024
031350b
Remove example damping, deduplicate with lambda
scpeters Apr 4, 2024
b99b4d1
Remove example model_state/@name
scpeters Apr 4, 2024
6001861
Add missing <vector> include
scpeters Apr 4, 2024
2028a54
Remove unneeded sdf clone
scpeters Apr 10, 2024
fe653b3
SetModelState.hh: document xml syntax
scpeters Apr 11, 2024
9abe337
SetModelState.hh: multi-axis syntax example
scpeters Apr 11, 2024
a27d8f2
SetModelState.cc: todo comment in Reset
scpeters Apr 11, 2024
e60bb9a
Move parseScalarWithDegrees to anonymous namespace
scpeters Apr 11, 2024
7cab1bb
Example world: use 1.11 and auto inertials
scpeters Jun 27, 2024
6a32292
Merge branch 'main' into scpeters/set_model_state_prototype
scpeters Aug 14, 2024
0adf71d
Set link velocity from `set_model_state` plugin (#2440)
yaswanth1701 Aug 15, 2024
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300 changes: 300 additions & 0 deletions examples/worlds/set_model_state.sdf
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<?xml version="1.0" ?>
<!--
Gazebo set model state system demo

The initial joint position should be 90 degrees, and the initial joint
velocity should be -30 degrees / second.

The initial linear velocity should be (0.9, 0.4, 0.1) m/s for the first box
and (0.9, -0.4, 0.1) for the second box, and initial angular velocity should be
(0.1, 5, 0.1) rad/s for both.

-->
<sdf version="1.11">
<world name="set_model_state">
<gravity>0 0 0</gravity>
<plugin
filename="gz-sim-physics-system"
name="gz::sim::systems::Physics">
</plugin>
<plugin
filename="gz-sim-scene-broadcaster-system"
name="gz::sim::systems::SceneBroadcaster">
</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="model_state_example_degrees">
<pose>0 0 0.04 0 0 0</pose>
<link name="base_link">
<inertial auto="true">
<density>6000</density>
</inertial>
<visual name="base_visual">
<geometry>
<box>
<size>0.5 0.5 0.08</size>
</box>
</geometry>
<material>
<ambient>1.0 0.0 0.0 1</ambient>
<diffuse>1.0 0.0 0.0 1</diffuse>
<specular>1.0 0.0 0.0 1</specular>
</material>
</visual>
<collision name="base_collision">
<geometry>
<box>
<size>0.5 0.5 0.08</size>
</box>
</geometry>
</collision>
</link>
<link name="rotor">
<pose>0.0 0.0 1.0 0.0 0 0</pose>
<inertial auto="true">
<density>192</density>
</inertial>
<visual name="visual">
<geometry>
<box>
<size>0.25 0.25 0.05</size>
</box>
</geometry>
<material>
<ambient>0.0 0.0 1.0 1</ambient>
<diffuse>0.0 0.0 1.0 1</diffuse>
<specular>0.0 0.0 1.0 1</specular>
</material>
</visual>
<collision name="collision">
<geometry>
<box>
<size>0.25 0.25 0.05</size>
</box>
</geometry>
</collision>
</link>

<joint name="j1" type="revolute">
<pose>0 0 -0.5 0 0 0</pose>
<parent>base_link</parent>
<child>rotor</child>
<axis>
<xyz>0 0 1</xyz>
<dynamics>
<damping>0.0</damping>
</dynamics>
</axis>
</joint>
<plugin
filename="gz-sim-set-model-state-system"
name="gz::sim::systems::SetModelState">
<model_state>
<joint_state name="j1">
<axis_state>
<position degrees="true">60</position>
<velocity degrees="true">-30</velocity>
</axis_state>
</joint_state>
</model_state>
</plugin>
</model>

<model name="model_state_example_radians">
<pose>1.0 0 0.005 0 0 0</pose>
<link name="base_link">
<inertial auto="true">
<density>6000</density>
</inertial>
<visual name="base_visual">
<geometry>
<box>
<size>0.5 0.5 0.08</size>
</box>
</geometry>
<material>
<ambient>1.0 0.0 0.0 1</ambient>
<diffuse>1.0 0.0 0.0 1</diffuse>
<specular>1.0 0.0 0.0 1</specular>
</material>
</visual>
<collision name="base_collision">
<geometry>
<box>
<size>0.5 0.5 0.08</size>
</box>
</geometry>
</collision>
</link>
<link name="rotor">
<pose>0.0 0.0 1.0 0.0 0 0</pose>
<inertial auto="true">
<density>192</density>
</inertial>
<visual name="visual">
<geometry>
<box>
<size>0.25 0.25 0.05</size>
</box>
</geometry>
<material>
<ambient>0.0 0.0 1.0 1</ambient>
<diffuse>0.0 0.0 1.0 1</diffuse>
<specular>0.0 0.0 1.0 1</specular>
</material>
</visual>
<collision name="collision">
<geometry>
<box>
<size>0.25 0.25 0.05</size>
</box>
</geometry>
</collision>
</link>

<joint name="j1" type="revolute">
<pose>0 0 -0.5 0 0 0</pose>
<parent>base_link</parent>
<child>rotor</child>
<axis>
<xyz>0 0 1</xyz>
<dynamics>
<damping>0.0</damping>
</dynamics>
</axis>
</joint>
<plugin
filename="gz-sim-set-model-state-system"
name="gz::sim::systems::SetModelState">
<model_state>
<joint_state name="j1">
<axis_state>
<position>1.047</position>
<velocity>-0.523</velocity>
</axis_state>
</joint_state>
</model_state>
</plugin>
</model>

<model name="model_state_example_link_velocity_radians">
<pose>2 0 1 0 0 0</pose>
<link name="box_link">
<pose>0.0 0.0 0.0 0 0 0</pose>
<inertial auto="true">
<density>277.7</density>
</inertial>
<visual name="box_visual">
<pose>0.0 0.0 0.0 0 0 0</pose>
<geometry>
<box>
<size>0.1 0.4 0.9</size>
</box>
</geometry>
<material>
<ambient>1.0 0.0 0.0 1</ambient>
<diffuse>1.0 0.0 0.0 1</diffuse>
<specular>1.0 0.0 0.0 1</specular>
</material>
</visual>
<collision name="box_collision">
<pose>0.0 0.0 0.0 0 0 0</pose>
<geometry>
<box>
<size>0.1 0.4 0.9</size>
</box>
</geometry>
</collision>
</link>
<plugin
filename="gz-sim-set-model-state-system"
name="gz::sim::systems::SetModelState">
<model_state>
<link_state name="box_link">
<linear_velocity>0.9 0.4 0.1</linear_velocity>
<angular_velocity degrees="false">0.1 5 0.1</angular_velocity>
</link_state>
</model_state>
</plugin>
</model>

<model name="model_state_example_link_velocity_degrees">
<pose>-1 0 1 0 0 0</pose>
<link name="box_link">
<pose>0.0 0.0 0.0 0 0 0</pose>
<inertial auto="true">
<density>277.7</density>
</inertial>
<visual name="box_visual">
<pose>0.0 0.0 0.0 0 0 0</pose>
<geometry>
<box>
<size>0.1 0.4 0.9</size>
</box>
</geometry>
<material>
<ambient>1.0 0.0 0.0 1</ambient>
<diffuse>1.0 0.0 0.0 1</diffuse>
<specular>1.0 0.0 0.0 1</specular>
</material>
</visual>
<collision name="box_collision">
<pose>0.0 0.0 0.0 0 0 0</pose>
<geometry>
<box>
<size>0.1 0.4 0.9</size>
</box>
</geometry>
</collision>
</link>
<plugin
filename="gz-sim-set-model-state-system"
name="gz::sim::systems::SetModelState">
<model_state>
<link_state name="box_link">
<linear_velocity>0.9 -0.4 0.1</linear_velocity>
<angular_velocity degrees="true">5.73 286.479 5.73</angular_velocity>
</link_state>
</model_state>
</plugin>
</model>
</world>
</sdf>
1 change: 1 addition & 0 deletions src/systems/CMakeLists.txt
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Expand Up @@ -153,6 +153,7 @@ add_subdirectory(python_system_loader)
add_subdirectory(rf_comms)
add_subdirectory(scene_broadcaster)
add_subdirectory(sensors)
add_subdirectory(set_model_state)
add_subdirectory(shader_param)
add_subdirectory(thermal)
add_subdirectory(thruster)
Expand Down
6 changes: 6 additions & 0 deletions src/systems/set_model_state/CMakeLists.txt
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gz_add_system(set-model-state
SOURCES
SetModelState.cc
PUBLIC_LINK_LIBS
gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER}
)
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