Updated JointTransmittedWrench function to account for forces and torques applied by constraints, e.g. when velocity commands are sent, bullet uses a motor constraint to move the joint. The force torque feedback in this case is now consistent with what dartsim produces.
Test was originally written by @scpeters and Nils Berg so credit goes to them.
Checklist
[x] Signed all commits for DCO
[x] Added tests
[ ] Updated documentation (as needed)
[ ] Updated migration guide (as needed)
[ ] Consider updating Python bindings (if the library has them)
[ ] While waiting for a review on your PR, please help review another open pull request to support the maintainers
Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.
🦟 Bug fix
Summary
Updated JointTransmittedWrench function to account for forces and torques applied by constraints, e.g. when velocity commands are sent, bullet uses a motor constraint to move the joint. The force torque feedback in this case is now consistent with what dartsim produces.
Test was originally written by @scpeters and Nils Berg so credit goes to them.
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.