This PR introduces WorldLinearVelocityReset and WorldAngularVelocityReset components for the LInk entity to set initial link velocities from SDF using set_model_state plugin. The link velocities are only set to root link of the FreeGroup for now.
Test it
gz sim -v 4 examples/worlds/set_model_state.sdf
Should see the red cube moving and rotating.
Checklist
[X] Signed all commits for DCO
[X] Added tests
[ ] Added example and/or tutorial
[ ] Updated documentation (as needed)
[ ] Updated migration guide (as needed)
[ ] Consider updating Python bindings (if the library has them)
[ ] While waiting for a review on your PR, please help review another open pull request to support the maintainers
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.
🎉 New feature
Follow up PR to #2359
Summary
This PR introduces
WorldLinearVelocityReset
andWorldAngularVelocityReset
components for the LInk entity to set initial link velocities from SDF usingset_model_state
plugin. The link velocities are only set toroot link
of the FreeGroup for now.Test it
Should see the red cube moving and rotating.
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.