Merge gz-physics7 ➡️ main #571
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Signed-off-by: Michael Carroll <[email protected]>
The reported bug was that the detachable joint was not correctly linked between objects' canonical links with bullet-featherstone. While this was addressed and confirmed working in #530, this adds a test to prevent future regression (or for future physics implementations) Signed-off-by: Michael Carroll <[email protected]>
Signed-off-by: Ian Chen <[email protected]>
…562) * Add test to show seg-fault with unsorted links Signed-off-by: Shameek Ganguly <[email protected]> Signed-off-by: Steve Peters <[email protected]> Signed-off-by: Ian Chen <[email protected]> Co-authored-by: Steve Peters <[email protected]> Co-authored-by: Ian Chen <[email protected]>
The bullet APIs expect the moment of inertia matrix to already be diagonalized. This changes the bullet-featherstone plugin to compute the principal moments of inertia in the same manner as the bullet plugin. It will now load models with off-diagonal inertia values without giving errors. Signed-off-by: Steve Peters <[email protected]>
This fixes the SetFreeGroupWorldAngularVelocity implementation in bullet-featherstone and updates the FreeGroup test in the simulation_features common test with the following changes: * Use FeatureList struct for faster build * Use sphere.sdf instead of shapes.world to avoid initial contact and gravity. * Verify free group pose and velocities in addition to link values. * Use tighter tolerances for velocity expectations. Signed-off-by: Steve Peters <[email protected]>
Merge gz-physics6 ➡️ gz-physics7
Codecov Report
@@ Coverage Diff @@
## main #571 +/- ##
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+ Coverage 76.11% 77.91% +1.79%
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Files 140 140
Lines 7797 7766 -31
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+ Hits 5935 6051 +116
+ Misses 1862 1715 -147
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ahcorde
approved these changes
Nov 13, 2023
mjcarroll
approved these changes
Nov 13, 2023
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➡️ Forward port
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gz-physics7➡️mainBranch comparison: main...gz-physics7
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