Joint::SetPosition does not set the position correctly for some position ranges on HingeJoint

[osrf-migration]

Original report (archived issue) by Michael Grey (Bitbucket: mxgrey, GitHub: mxgrey).

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Calling Joint::SetPosition(0, angle) will set the joint position incorrectly on a HingeJoint for some ranges of angle, and the outcome varies between physics engines. Gazebo7 does not support Joint::SetPosition(~) at all for DART or Simbody, so I will disregard those in this issue.

In ODE, if angle is outside the range [-pi, pi], then the resulting position will be wrapped into that range. In Bullet, if angle is outside the range [-pi, pi] and it is too far from the current joint angle (~0.3 radians), then the position will be wrapped into [-pi, pi].

In a few minutes, I'll be creating a pull request that fixes these issues for Gazebo7 and introduces a regression test for them. This issue is being posted for posterity, and so that we have an Issue to reference for this.

[osrf-migration]

Original comment by Michael Grey (Bitbucket: mxgrey, GitHub: mxgrey).

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See Pull Request #2892

[osrf-migration]

Original comment by Steve Peters (Bitbucket: Steven Peters, GitHub: scpeters).

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• changed state from "new" to "resolved"

pull request #2892