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RobotLocomotion / drake

Model-based design and verification for robotics.
https://drake.mit.edu
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Error using a transmogrified SceneGraph<ADS> #10453

Closed hongkai-dai closed 5 years ago

hongkai-dai commented 5 years ago

I have encountered an error when I transmogrified a Diagram<double> (containing an MBP<double> and a SceneGraph<double>) to a Diagram<ADS>. After the transmogrification, when I call the function to compute the signed distance in SceneGraph, it throws me an error.

As a comparison, I also tried to construct that Diagram<ADS> directly without transmogrification, and then call the same signed distance function, it runs fine.

I created a test to show the error. To reproduce the problem, you could run

$ bazel build //multibody/inverse_kinematics/transmogrify_bug_demo
$ ./bazel-bin/multibody/inverse_kinematics/transmogrify_bug_demo

The error I got when running the transmogrified Diagram<ADS> is

abort: Failure at geometry/proximity_engine.cc:1065 in UpdateWorldPoses(): condition 'indices.size() == dynamic_objects_.size()' failed.

@SeanCurtis-TRI @sherm1

SeanCurtis-TRI commented 5 years ago

Thanks for the test, @hongkai-dai. Makes my job so much easier.