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Improved joints in bullet featherstone #404

Merged
merged 2 commits into from
Sep 7, 2022
Merged

Improved joints in bullet featherstone #404

merged 2 commits into from
Sep 7, 2022

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ahcorde
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@ahcorde ahcorde commented Aug 26, 2022

Signed-off-by: ahcorde ahcorde@gmail.com

🎉 New feature

Summary

  • Improved joint constraint (limit, damping, friction, ...)
  • Fixed crash when a joint type is not supported or a link has several parent joints

Test it

Launch gz-sim with gz-sim/test/worlds/demo_joint_types.sdf

Checklist

  • Signed all commits for DCO
  • Added tests
  • Added example and/or tutorial
  • 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.

@ahcorde
Improved joints in bullet featherstone
3ed1a8c 
Signed-off-by: ahcorde <ahcorde@gmail.com>
@ahcorde ahcorde self-assigned this Aug 26, 2022
@ahcorde ahcorde mentioned this pull request Aug 26, 2022
Merged
9 tasks
@chapulina chapulina added the Bullet Bullet engine label Aug 26, 2022
mjcarroll
mjcarroll requested changes Sep 2, 2022
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@mjcarroll mjcarroll left a comment

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Has some linting issues here

@ahcorde
make linters happy
22f8279 
Signed-off-by: ahcorde <ahcorde@gmail.com>
@ahcorde ahcorde requested a review from mjcarroll September 5, 2022 15:47
@mjcarroll mjcarroll merged commit 3cc4bbb into ahcorde/add-bullet-featherstone/shapesFeatures Sep 7, 2022
@mjcarroll mjcarroll deleted the ahcorde/add-bullet-featherstone/joints branch September 7, 2022 13:59
mjcarroll pushed a commit that referenced this pull request Sep 19, 2022
@ahcorde
Bullet featherstone fix joint pose (#418)
3acc6fb 
* Improved joints in bullet featherstone (#404)
* Fixed ExamplesBuild
* Fixed world test
* Fixed joint test
* Fixed kinematic features common test
* Fixed kinematic test

Signed-off-by: ahcorde <ahcorde@gmail.com>
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Reviewers

@mjcarroll mjcarroll mjcarroll approved these changes

@azeey azeey Awaiting requested review from azeey

@mxgrey mxgrey Awaiting requested review from mxgrey

@scpeters scpeters Awaiting requested review from scpeters

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@ahcorde ahcorde

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Bullet Bullet engine
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3 participants
@ahcorde @mjcarroll @chapulina