New KinematicEvaluatorSet causes segfault in multibody_sim

DAIRLab / dairlib

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New KinematicEvaluatorSet causes segfault in multibody_sim #191

Closed yangwill closed 4 years ago

yangwill commented 4 years ago

The new update to KinematicEvaluatorSet causes multibody_sim to throw a warning Plant in KinematicEvaluatorSet has an associated SceneGraph. This may introduce undesired contact forces when using EvalActiveSecondTimeDerivative, EvalFullSecondTimeDerivative, and CalcTimeDerivativesWithForWithForce and segfault.

Looking into the issue.

yminchen commented 4 years ago

@yangwill I have resolved the segfault error in multibody_sim in #186

mposa commented 4 years ago

Ah, this is because I changed KinematicEvaluatorSet to use MBP's dynamics calculations (more foolproof than re-creating them on our end). However, we don't want MBP to compute contact forces. The best approach is to pass a MBP into KinematicEvaluatorSet that does not have an associated SceneGraph.

I'm not sure what the segfault is, but it looks like @yminchen has resolved that.

yangwill commented 4 years ago

Fixed in #186, closing the issue