Fix initialization of world components when enabling velocity checks #2777
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Friendly ping :) @mjcarroll, @scpeters, @azeey. Could any of you guys take a quick look at this PR to see if I'm in the right track? |
Signed-off-by: Gabriel Pacheco <[email protected]>
* Not all models of test/worlds/mesh_inertia_calculation.sdf are initialized with zero pose * Bug gazebosim#2774 was forcing all `link.WorldPose` to be zero after calling `link.EnableVelocityChecks` Signed-off-by: Gabriel Pacheco <[email protected]> # Conflicts: # test/integration/mesh_inertia_calculation.cc
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Codecov ReportAll modified and coverable lines are covered by tests ✅
Additional details and impacted files@@ Coverage Diff @@
## gz-sim9 #2777 +/- ##
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+ Coverage 68.93% 68.94% +0.01%
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Files 345 345
Lines 33296 33319 +23
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+ Hits 22952 22972 +20
- Misses 10344 10347 +3 ☔ View full report in Codecov by Sentry. |
scpeters
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Feb 28, 2025
| EXPECT_EQ(link.WorldInertialPose(*ecm).value(), gz::math::Pose3d::Zero); | ||
| // Check the Inertial Pose and Link Pose. Their world poses should be the | ||
| // same since the inertial pose relative to the link is zero. | ||
| EXPECT_EQ(link.WorldPose(*ecm).value(), worldPose(linkEntity, *ecm)); |
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Suggested change
| EXPECT_EQ(link.WorldPose(*ecm).value(), worldPose(linkEntity, *ecm)); |
this expectation seems unnecessary based on the comments; I would remove it
| @@ -219,13 +222,12 @@ void cylinderColladaMeshWithNonCenterOriginInertiaCalculation( | |||
| link.WorldInertiaMatrix(*ecm).value().Equal(inertiaMatrix, 0.005)); | |||
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| // Check the Inertial Pose and Link Pose | |||
| EXPECT_EQ(link.WorldPose(*ecm).value(), gz::math::Pose3d::Zero); | |||
| EXPECT_EQ(link.WorldPose(*ecm).value(), worldPose(linkEntity, *ecm)); | |||
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Suggested change
| EXPECT_EQ(link.WorldPose(*ecm).value(), worldPose(linkEntity, *ecm)); |
this expectation seems unnecessary based on the comments; I would remove it
| @@ -318,7 +320,7 @@ TEST(MeshInertiaCalculationTest, CylinderColladaOptimizedMeshInertiaCalculation) | |||
| EXPECT_TRUE(actualIxyxzyz.Equal( | |||
| meshInertial.MassMatrix().OffDiagonalMoments(), 3.5)); | |||
| // Check the Inertial Pose and Link Pose | |||
| EXPECT_EQ(link.WorldPose(*ecm).value(), gz::math::Pose3d::Zero); | |||
| EXPECT_EQ(link.WorldPose(*ecm).value(), worldPose(linkEntity, *ecm)); | |||
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Suggested change
| EXPECT_EQ(link.WorldPose(*ecm).value(), worldPose(linkEntity, *ecm)); |
this expectation seems unnecessary based on the comments; I would remove it
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🦟 Bug fix
Fixes #2774
Summary
When using the link API to enable velocity checks for a link that does not yet have the world ECM components (
WorldPose,WorldLinearVelocity,WorldAngularVelocity), typically before the physics system plugin does its first update loop, such components will be initialized with their default constructor, zeroing values that might not be zero. One more evident example is the link world pose that could have already been initialized.gz-sim/src/Link_TEST.cccolcon build --packages-select gz-sim9./bin/UNIT_Link_TEST --gtest-filter=*EnableVelocityChecks*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.