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Integrate new upstream APIs into ScenarIO Gazebo #252

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diegoferigo opened this issue Oct 20, 2020 · 1 comment
Open

Integrate new upstream APIs into ScenarIO Gazebo #252

diegoferigo opened this issue Oct 20, 2020 · 1 comment
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complexity::low component::scenario::gazebo issue::type::reminder

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@diegoferigo
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gazebosim/gz-sim#378 introduces a new World class with some useful method. As we already do for Link and Joint, we should rely on these upstream helpers when we can.
@diegoferigo diegoferigo changed the title Use new World APIs for gazebo backend Integrate new upstream APIs into ScenarIO Gazebo Apr 7, 2021
@diegoferigo
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gazebosim/gz-sim#325 collects upstream contributions providing high-level APIs that could simplify the ScenarIO Gazebo classes and helpers.

It's worth noting that adding many components to ecm.Each calls currently might introduce a small overhead gazebosim/gz-sim#711. There are cases where our implementation (not calling the upstream APIs) uses less components, and in this case we'd better keep our custom call.

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