Resets the joint velocity cmd after each step to be consistent with dart behavior.
Note: I also tried removing the joint motor constraint after each step but that didn't work (test fails) so opted to reset the joint velocity target to 0.
We have a test for this in joint_features but only for dart. This PR enables the test for bullet-featherstone as well. There is also a test in gz-sim in a branch (see instructions in https://github.com/gazebosim/gz-sim/issues/2654). The test there should now pass with these changes.
Checklist
[x] Signed all commits for DCO
[ ] 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
Fixes https://github.com/gazebosim/gz-sim/issues/2654
Summary
Resets the joint velocity cmd after each step to be consistent with dart behavior.
Note: I also tried removing the joint motor constraint after each step but that didn't work (test fails) so opted to reset the joint velocity target to 0.
We have a test for this in
joint_featuresbut only for dart. This PR enables the test for bullet-featherstone as well. There is also a test in gz-sim in a branch (see instructions in https://github.com/gazebosim/gz-sim/issues/2654). The test there should now pass with these changes.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.