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bullet-featherstone - add applied constraint force torque to joint transmitted wrench #668

Merged
merged 7 commits into from
Oct 11, 2024
Merged

bullet-featherstone - add applied constraint force torque to joint transmitted wrench #668

merged 7 commits into from
Oct 11, 2024

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iche033
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@iche033 iche033 commented Jul 12, 2024 •
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🦟 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

  • 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)
  • codecheck passed (See contributing)
  • All tests passed (See test coverage)
  • 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.

@iche033
add constraint force torque to feedback
daea4f2 
Signed-off-by: Ian Chen <ichen@openrobotics.org>
@github-actions github-actions bot added the 🎵 harmonic Gazebo Harmonic label Jul 12, 2024
iche033 added 2 commits July 12, 2024 17:52
@iche033
add test world file
69b9378 
Signed-off-by: Ian Chen <ichen@openrobotics.org>
@iche033
check bullet version
1432013 
Signed-off-by: Ian Chen <ichen@openrobotics.org>
@iche033 iche033 added the Bullet Bullet engine label Jul 22, 2024
@azeey azeey added the beta Targeting beta release of upcoming collection label Jul 29, 2024
@azeey azeey removed the beta Targeting beta release of upcoming collection label Sep 26, 2024
scpeters
scpeters reviewed Oct 11, 2024
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just two small changes to the test and I'll be ready to approve

thanks for your patience on my review

test/common_test/joint_features.cc Outdated Show resolved Hide resolved
test/common_test/joint_features.cc Outdated Show resolved Hide resolved
@scpeters scpeters merged commit 2ba401c into gz-physics7 Oct 11, 2024
9 checks passed
@scpeters scpeters deleted the bullet_constraint_force_torque branch October 11, 2024 23:42
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@scpeters scpeters scpeters approved these changes

@azeey azeey Awaiting requested review from azeey azeey is a code owner

@mxgrey mxgrey Awaiting requested review from mxgrey

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@iche033 @scpeters @azeey