Fix: Make SetPose UI not editable for planes

src/gui/plugins/component_inspector/ComponentInspector.cc

@@ -48,6 +48,7 @@
 #include "gz/sim/components/CenterOfVolume.hh"
 #include "gz/sim/components/ChildLinkName.hh"
 #include "gz/sim/components/Collision.hh"
+#include "gz/sim/components/Geometry.hh"
 #include "gz/sim/components/Factory.hh"
 #include "gz/sim/components/Gravity.hh"
 #include "gz/sim/components/Joint.hh"
@@ -88,6 +89,8 @@
 #include "gz/sim/config.hh"
 #include "gz/sim/EntityComponentManager.hh"
 #include "gz/sim/gui/GuiEvents.hh"
+#include "gz/sim/Model.hh"
+#include "gz/sim/Link.hh"
 
 #include "Inertial.hh"
 #include "Pose3d.hh"
@@ -118,6 +121,9 @@ namespace gz::sim
     /// \brief Nested model or not
     public: bool nestedModel = false;
 
+    /// \brief Whether the model contains a plane collision geometry
+    public: bool modelContainsPlane = false;
+
     /// \brief Whether currently locked on a given entity
     public: bool locked{false};
 
@@ -537,6 +543,28 @@ void ComponentInspector::Update(const UpdateInfo &,
       }
       this->NestedModelChanged();
 
+      // Check if any collision in this model has plane geometry.
+      bool containsPlane = false;
+      sim::Model model(this->dataPtr->entity);
+      for (const auto &linkEntity : model.Links(_ecm))
+      {
+        sim::Link link(linkEntity);
+        for (const auto &collisionEntity : link.Collisions(_ecm))
+        {
+          auto geomComp = _ecm.Component<components::Geometry>(collisionEntity);
+          if (geomComp && geomComp->Data().Type() == sdf::GeometryType::PLANE) {
+            containsPlane = true;
+            break;
+          }
+        }
+        if (containsPlane)
+        {
+            break;
+        }
+      }
+      this->dataPtr->modelContainsPlane = containsPlane;
+      this->ModelContainsPlaneChanged();
+
       continue;
     }
 
@@ -1251,6 +1279,12 @@ bool ComponentInspector::NestedModel() const
   return this->dataPtr->nestedModel;
 }
 
+/////////////////////////////////////////////////
+bool ComponentInspector::ModelContainsPlane() const
+{
+  return this->dataPtr->modelContainsPlane;
+}
+
 /////////////////////////////////////////////////
 const std::string &ComponentInspector::WorldName() const
 {

src/gui/plugins/component_inspector/ComponentInspector.hh

@@ -213,6 +213,13 @@ namespace sim
       NOTIFY NestedModelChanged
     )
 
+    /// \brief Contains Plane Collision
+    Q_PROPERTY(
+      bool modelContainsPlane
+      READ ModelContainsPlane
+      NOTIFY ModelContainsPlaneChanged
+    )
+
     /// \brief System display name list
     Q_PROPERTY(
       QStringList systemNameList
@@ -330,6 +337,13 @@ namespace sim
     /// \brief Notify that is nested model property has changed
     signals: void NestedModelChanged();
 
+    /// \brief Get whether the model contains plane collision geometry
+    /// \return True if any collision in the model uses plane geometry
+    public: Q_INVOKABLE bool ModelContainsPlane() const;
+
+    /// \brief Notify that modelContainsPlane property has changed
+    signals: void ModelContainsPlaneChanged();
+
     // Documentation inherited
     protected: bool eventFilter(QObject *_obj, QEvent *_event) override;
 

src/gui/plugins/component_inspector/ComponentInspector.qml

@@ -49,6 +49,12 @@ Rectangle {
    */
   property bool nestedModel : _ComponentInspector.nestedModel
 
+  /**
+   * True if the model contains plane collision geometry,
+   * which makes SetPose unsupported.
+   */
+  property bool modelContainsPlane : _ComponentInspector.modelContainsPlane
+
   /**
    * Light grey according to theme
    */

src/gui/plugins/component_inspector/Pose3d.qml

@@ -97,7 +97,7 @@ Rectangle {
         x: margin + indentation
         readOnly: {
           var isModel = entityType == "model"
-          return !(isModel) || nestedModel
+          return !(isModel) || nestedModel || modelContainsPlane
         }
 
         xValue: model.data[0]