Enable/disable: gravity and static #764
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Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>
Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>
10 tasks
Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>
caguero
reviewed
Aug 27, 2025
| // Verify that the model qualifies as a FreeGroup | ||
| dart::dynamics::SkeletonPtr &skeleton = modelInfo->model; | ||
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| std::cout << "SetFreeGroupStaticState " << std::endl; |
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| std::cout << "SetFreeGroupStaticState " << std::endl; | ||
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| if (skeleton) { |
There was a problem hiding this comment.
Nit: Move the { to the next line. Also, remove the else branch?
| auto *bn = info.model->getRootBodyNode(i); | ||
| bn->setGravityMode(_enabled); | ||
| } | ||
| // const auto modelInfo = this->models.at(_groupID); |
| public: template <typename PolicyT, typename FeaturesT> | ||
| class FreeGroup : public virtual Entity<PolicyT, FeaturesT> | ||
| { | ||
| /// \brief Set this FreeGroup pose in world frame. |
| public: template <typename PolicyT, typename FeaturesT> | ||
| class FreeGroup : public virtual Entity<PolicyT, FeaturesT> | ||
| { | ||
| /// \brief Set this FreeGroup pose in world frame. |
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🎉 New feature
Summary
Allow to enable/disable gravity and static state
Test it
Checklist
codecheckpassed (See contributing)Generated-by: Remove this if GenAI was not used.
Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining
Signed-off-byandGenerated-bymessages.