bullet-featherstone: support off-diagonal inertia #544
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The bullet APIs expect the moment of inertia matrix to already be diagonalized. This changes the bullet-featherstone plugin to compute the principal moments of inertia in the same manner as the bullet plugin. It will now load models with off-diagonal inertia values without giving errors. Signed-off-by: Steve Peters <scpeters@openrobotics.org>
Codecov Report
@@ Coverage Diff @@
## gz-physics6 #544 +/- ##
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+ Coverage 77.02% 77.16% +0.14%
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Files 143 143
Lines 7321 7309 -12
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+ Hits 5639 5640 +1
+ Misses 1682 1669 -13
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10 tasks
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I've been working on a test for this, and while I'm not ready to add one to this branch, I've done enough testing that I'm confident enough about this change to merge once this has an approval. I will post the branches I have been using for testing once I have a chance to clean them up. cc @iche033 |
8 tasks
iche033
approved these changes
Nov 9, 2023
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🦟 Bug fix
Allows loading models with off-diagonal inertia terms in bullet-featherstone
Summary
Currently gz-physics prints error messages and fails to load portions of models that contain links with off-diagonal inertia terms with magnitude larger than
0.001.The bullet APIs expect the moment of inertia matrix to already be diagonalized. This changes the bullet-featherstone plugin to compute the principal moments of inertia in the same manner as the bullet plugin (see bullet's SDFFeatures.cc). It will now load models with off-diagonal inertia values without giving errors.
I'd really like to add a test for this, but I'm having trouble figuring out a simple test.
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.