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gazebo-forks / dart

Dynamic Animation and Robotics Toolkit
http://dartsim.github.io/
BSD 2-Clause "Simplified" License
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Copy of dartsim PR #1437 #5

Closed azeey closed 4 years ago

azeey commented 4 years ago

Copied from https://github.com/dartsim/dart/pull/1437

This resolves issue #1433 and possibly the other issues mentioned in there. The two changes made in this PR are:

  1. When integrating a FreeJoint's velocity, an additional term is added to account for changing linear velocity in the inertial frame.

  2. The joint velocities of FreeJoint are in se3 and since they are expressed in the body frame, they have to be updated after the joint's positions (SE3) are updated. The same is true for accelerations after velocities are integrated.

This PR breaks a test in test_Dynamics.cpp because integration of the joint positions of FreeJoint updates joint velocities unlike other joint types. I left this as WIP to get some feedback on what to do about this test failure.

From the comments in the upstream PR, this might be a temporary solution and a more permanent solution is in the works. In the meantime, since it fixes a crash in ign-gazebo, it would be nice to get it merged into our local fork

azeey commented 4 years ago

/cc @scpeters

azeey commented 4 years ago

Should we change the version number?

scpeters commented 4 years ago

I think @j-rivero can update the number when building a debian