bullet-featherstone: Fix finding free group for a body with fixed base #700
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Signed-off-by: Ian Chen <[email protected]>
Signed-off-by: Ian Chen <[email protected]>
azeey
reviewed
Nov 11, 2024
| @@ -316,6 +316,71 @@ TEST_F(FreeGroupFeaturesTest, FreeGroupSetWorldPosePrincipalAxesOffset) | |||
| } | |||
| } | |||
|
|
|||
| TEST_F(FreeGroupFeaturesTest, FreeGroupSetWorldPoseStaticModel) | |||
There was a problem hiding this comment.
Do we need to check how it behaves with non-static models attached to the world with a fixed joint?
There was a problem hiding this comment.
updated code to make sure non-static model with a world joint can not be moved, also added a test a7e6eb5
Signed-off-by: Ian Chen <[email protected]>
iche033
force-pushed
the
bullet_free_group_static
branch
from
6362297
to
05368c7
Compare
Signed-off-by: Ian Chen <[email protected]>
iche033
force-pushed
the
bullet_free_group_static
branch
from
05368c7
to
e7a7ccb
Compare
azeey
approved these changes
Nov 11, 2024
| if (joint.second->fixedConstraint) | ||
| { | ||
| if (joint.second->fixedConstraint->getMultiBodyB() == model->body.get()) | ||
| { | ||
| return this->GenerateInvalidId(); | ||
| } | ||
| } | ||
| // Reject if the model has a world joint | ||
| if (std::size_t(joint.second->model) == std::size_t(_modelID)) |
There was a problem hiding this comment.
I think this is good for matching the behavior of DART, but we might want to consider the allowing models with world joints to move. I think it would be more consistent with also allowing static models to move. I won't block on this, but I'd like to hear @scpeters thoughts on it.
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
🦟 Bug fix
Fixes gazebosim/gz-sim#2663
Summary
Finding free group for a body that has a fixed base results an invalid ID, which causes set world pose from gz-sim to fail, see gazebosim/gz-sim#2663. This PR removes the fixed base body check and I verified that set world pose works for a body with fixed base.
Another minor change - I noticed that finding free group for links has the same check. Currently free groups only works for models in bullet-featherstone so I updated the function to just call
FindFreeGroupForModel.Checklist
codecheckpassed (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-bymessages.