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Fix incorrect LCP construction in JointConstraint for multi-DOFs joints (#1596) #1597
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e594706
Support universal joint type in SDF parser
jslee02 e80fee6
Add a test that replicates #1596
jslee02 1093ec4
Fix incorrect LCP construction in JointConstraint (#1596)
jslee02 0dafab2
Bump version to 6.11.1 and update changelog
jslee02 fc2d5e4
Encode visual/collision name attribute in ShapeNode name
jslee02 4fb89e2
Fix build error on macOS
jslee02 5e4d225
Change joint limits and gravity to be closer to the conditions of #1596
jslee02 5e0e44a
Don't segfault for missing required attribute in collision and visual
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,182 @@ | ||
| <sdf version="1.4"> | ||
| <model name="model_1"> | ||
| <link name="link_00"> | ||
| <gravity>true</gravity> | ||
| <pose>0 0 2 0 0 0</pose> | ||
| <inertial> | ||
| <mass>0.1</mass> | ||
| <pose>0 0 -0.5 0 0 0</pose> | ||
| <inertia> | ||
| <ixx>0.01</ixx> | ||
| <ixy>0</ixy> | ||
| <ixz>0</ixz> | ||
| <iyy>0.01</iyy> | ||
| <iyz>0</iyz> | ||
| <izz>0.01</izz> | ||
| </inertia> | ||
| </inertial> | ||
| <collision name="col"> | ||
| <pose>0 0 -0.5 0 0 0</pose> | ||
| <geometry> | ||
| <box> | ||
| <size>0.10 0.20 1.0</size> | ||
| </box> | ||
| </geometry> | ||
| </collision> | ||
| <visual name="vis"> | ||
| <pose>0 0 -0.5 0 0 0</pose> | ||
| <geometry> | ||
| <box> | ||
| <size>0.10 0.20 1.0</size> | ||
| </box> | ||
| </geometry> | ||
| <material> | ||
| <script> | ||
| <uri>file://media/materials/scripts/gazebo.material</uri> | ||
| <name>Gazebo/Green</name> | ||
| </script> | ||
| </material> | ||
| </visual> | ||
| <visual name="vis2"> | ||
| <pose>0 0.125 -0.5 0 0 0</pose> | ||
| <geometry> | ||
| <sphere> | ||
| <radius>0.05</radius> | ||
| </sphere> | ||
| </geometry> | ||
| <material> | ||
| <script> | ||
| <uri>file://media/materials/scripts/gazebo.material</uri> | ||
| <name>Gazebo/Green</name> | ||
| </script> | ||
| </material> | ||
| </visual> | ||
| </link> | ||
| <link name="link_01"> | ||
| <gravity>true</gravity> | ||
| <pose>0 0 1.0 0 0 0</pose> | ||
| <inertial> | ||
| <mass>0.1</mass> | ||
| <pose>0 0 -0.5 0 0 0</pose> | ||
| <inertia> | ||
| <ixx>0.01</ixx> | ||
| <ixy>0</ixy> | ||
| <ixz>0</ixz> | ||
| <iyy>0.01</iyy> | ||
| <iyz>0</iyz> | ||
| <izz>0.01</izz> | ||
| </inertia> | ||
| </inertial> | ||
| <collision name="col"> | ||
| <pose>0 0 -0.5 0 0 0</pose> | ||
| <geometry> | ||
| <box> | ||
| <size>0.10 0.20 1.0</size> | ||
| </box> | ||
| </geometry> | ||
| <surface> | ||
| <contact> | ||
| <ode> | ||
| <min_depth>0.005</min_depth> | ||
| </ode> | ||
| </contact> | ||
| <friction> | ||
| <ode> | ||
| <mu>1.0</mu> | ||
| <mu2>1.0</mu2> | ||
| </ode> | ||
| </friction> | ||
| </surface> | ||
| </collision> | ||
| <visual name="vis"> | ||
| <pose>0 0 -0.5 0 0 0</pose> | ||
| <geometry> | ||
| <box> | ||
| <size>0.10 0.20 1.0</size> | ||
| </box> | ||
| </geometry> | ||
| <material> | ||
| <script> | ||
| <uri>file://media/materials/scripts/gazebo.material</uri> | ||
| <name>Gazebo/Red</name> | ||
| </script> | ||
| </material> | ||
| </visual> | ||
| <visual name="vis2"> | ||
| <pose>0 0.125 -0.5 0 0 0</pose> | ||
| <geometry> | ||
| <sphere> | ||
| <radius>0.05</radius> | ||
| </sphere> | ||
| </geometry> | ||
| <material> | ||
| <script> | ||
| <uri>file://media/materials/scripts/gazebo.material</uri> | ||
| <name>Gazebo/Green</name> | ||
| </script> | ||
| </material> | ||
| </visual> | ||
| </link> | ||
|
|
||
| <joint name="joint_00" type="universal"> | ||
| <parent>world</parent> | ||
| <child>link_00</child> | ||
| <axis> | ||
| <xyz>1 0 0</xyz> | ||
| <limit> | ||
| <lower>-0.1</lower> | ||
| <upper>0.1</upper> | ||
| <stiffness>1e6</stiffness> | ||
| </limit> | ||
| <dynamics> | ||
| <damping>0.0001</damping> | ||
| </dynamics> | ||
| </axis> | ||
| <axis2> | ||
| <xyz>0 1 0</xyz> | ||
| <limit> | ||
| <lower>-0.1</lower> | ||
| <upper>0.1</upper> | ||
| <stiffness>1e6</stiffness> | ||
| </limit> | ||
| <dynamics> | ||
| <damping>0.0001</damping> | ||
| </dynamics> | ||
| </axis2> | ||
| <physics> | ||
| <ode> | ||
| <cfm_damping>1</cfm_damping> | ||
| </ode> | ||
| </physics> | ||
| </joint> | ||
| <joint name="joint_01" type="universal"> | ||
| <child>link_01</child> | ||
| <parent>link_00</parent> | ||
| <axis> | ||
| <xyz>1 0 0</xyz> | ||
| <limit> | ||
| <lower>-0.1</lower> | ||
| <upper>0.1</upper> | ||
| </limit> | ||
| <dynamics> | ||
| <damping>0.1</damping> | ||
| </dynamics> | ||
| </axis> | ||
| <axis2> | ||
| <xyz>0 1 0</xyz> | ||
| <limit> | ||
| <lower>-0.1</lower> | ||
| <upper>0.1</upper> | ||
| </limit> | ||
| <dynamics> | ||
| <damping>0.1</damping> | ||
| </dynamics> | ||
| </axis2> | ||
| <physics> | ||
| <ode> | ||
| <cfm_damping>1</cfm_damping> | ||
| </ode> | ||
| </physics> | ||
| </joint> | ||
| </model> | ||
| </sdf> |
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These two lines are the actual fix for #1596. Without these lines, this function attempted to access invalid indices of the arrays in
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👍