bullet-featherstone: fix setting angular velocity #567
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Signed-off-by: Steve Peters <[email protected]>
Signed-off-by: Steve Peters <[email protected]>
* Use falling.world instead of shapes.world to avoid initial contact. * Verify free group pose and velocities in addition to link values. * Use AssertVectorApprox for velocity expectations, and use tighter tolerances. Signed-off-by: Steve Peters <[email protected]>
* Use btMultiBody::setBaseOmega API * Fix null pointer check Signed-off-by: Steve Peters <[email protected]>
10 tasks
scpeters
commented
Nov 9, 2023
| linkFrameData = model->GetLink(0)->FrameDataRelativeToWorld(); | ||
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| // Expect linear velocity to be affected by gravity. | ||
| const Eigen::Vector3d linearVelocityAfterStep{0.1, 0.2, 0.3 - 9.8 * 0.001}; |
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TPE is failing these expectations
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should be fixed by d604c92
Signed-off-by: Steve Peters <[email protected]>
Codecov Report
@@ Coverage Diff @@
## gz-physics6 #567 +/- ##
===============================================
+ Coverage 77.16% 77.77% +0.61%
===============================================
Files 143 143
Lines 7309 7295 -14
===============================================
+ Hits 5640 5674 +34
+ Misses 1669 1621 -48
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iche033
approved these changes
Nov 9, 2023
Signed-off-by: Steve Peters <[email protected]> Signed-off-by: Steve Peters <[email protected]>
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🦟 Bug fix
Part of #545.
Summary
I've been working on a test for off-diagonal moment of inertia components to support #544 based on free rotation of oblong rigid bodies (similar to a test from gazebo-classic), and I found that bullet-featherstone's
SetFreeGroupWorldAngularVelocityAPI wasn't working quite right. I've updated the FeatureList for the FreeGroup test inCOMMON_TEST_simulation_featuresso that it will run with bullet-featherstone (33e12fa) and also refactored the test a bit (a4359ef: use a world that doesn't start with shapes already in contact, add expectations for FreeGroup APIs, and tighten expected velocity tolerances).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.