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bullet-featherstone: Fix joint frame data pose #650

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bullet-featherstone: Fix joint frame data pose #650

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11 changes: 10 additions & 1 deletion bullet-featherstone/src/KinematicsFeatures.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -29,6 +29,7 @@
const auto index = _linkInfo->indexInModel.value();
FrameData3d data;
data.pose = GetWorldTransformOfLink(*_modelInfo, *_linkInfo);

const auto &link = _modelInfo->body->getLink(index);
data.linearVelocity = convert(link.m_absFrameTotVelocity.getLinear());
data.angularVelocity = convert(link.m_absFrameTotVelocity.getAngular());
Expand All @@ -41,8 +42,10 @@
{
bool isModel = false;
bool isCollision = false;
bool isJoint = false;
const ModelInfo *model = nullptr;
Eigen::Isometry3d collisionPoseOffset = Eigen::Isometry3d();
Eigen::Isometry3d jointPoseOffset = Eigen::Isometry3d();

const auto linkIt = this->links.find(_id.ID());
if (linkIt != this->links.end())
Expand All @@ -63,16 +66,20 @@
auto jointIt = this->joints.find(_id.ID());
if (jointIt != this->joints.end())
{
isJoint = true;
const auto &jointInfo = jointIt->second;

const auto linkIt2 = this->links.find(jointInfo->childLinkID);
if (linkIt2 != this->links.end())
{
const auto &linkInfo2 = linkIt2->second;
model = this->ReferenceInterface<ModelInfo>(linkInfo2->model);
jointPoseOffset = jointInfo->tf_to_child.inverse();
if (linkInfo2->indexInModel.has_value())
{
return getNonBaseLinkFrameData(model, linkInfo2.get());
auto data = getNonBaseLinkFrameData(model, linkInfo2.get());
data.pose = data.pose * jointPoseOffset;
return data;
}
}
}
Expand Down Expand Up @@ -125,6 +132,8 @@
}
else if (isCollision)
data.pose = data.pose * collisionPoseOffset;
else if (isJoint)
data.pose = data.pose * jointPoseOffset;

Check warning on line 136 in bullet-featherstone/src/KinematicsFeatures.cc

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data.linearVelocity = convert(model->body->getBaseVel());
data.angularVelocity = convert(model->body->getBaseOmega());
}
Expand Down
18 changes: 3 additions & 15 deletions test/common_test/kinematic_features.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -150,21 +150,9 @@ TYPED_TEST(KinematicFeaturesTest, JointFrameSemantics)

auto childLinkFrameData = childLink->FrameDataRelativeToWorld();
EXPECT_EQ(
F_WCexpected.pose.rotation(),
childLinkFrameData.pose.rotation());
// TODO(ahcorde): Review this in bullet-featherstone
if (this->PhysicsEngineName(name) != "bullet-featherstone")
{
EXPECT_NEAR(
F_WCexpected.pose.translation().x(),
childLinkFrameData.pose.translation().x(), 1e-6);
EXPECT_NEAR(
F_WCexpected.pose.translation().y(),
childLinkFrameData.pose.translation().y(), 1e-6);
EXPECT_NEAR(
F_WCexpected.pose.translation().z(),
childLinkFrameData.pose.translation().z(), 1e-6);
}
gz::math::eigen3::convert(F_WCexpected.pose),
gz::math::eigen3::convert(childLinkFrameData.pose));

EXPECT_TRUE(
gz::physics::test::Equal(
F_WCexpected.linearVelocity,
Expand Down
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