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Previously, link indices were not accounted for when adding fixed constraints. This will use the link index if it is present (and still use -1 if the constraint is on the root link).
Checklist
Signed all commits for DCO
Added tests
Updated documentation (as needed)
Updated migration guide (as needed)
Consider updating Python bindings (if the library has them)
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❗ Current head f51a75d differs from pull request most recent head 568f695. Consider uploading reports for the commit 568f695 to get more accurate results
A simple test might be to add another link in the SDF file for this test before body similar to gazebosim/gz-sim#2076 with a fixed joint to world and a prismatic joint to body. Hopefully, the test expectations would remain the same.
A simple test might be to add another link in the SDF file for this test before body similar to gazebosim/gz-sim#2076 with a fixed joint to world and a prismatic joint to body. Hopefully, the test expectations would remain the same.
I added a test earlier to this effect and couldn't get it to fail with the previous implementation. Looking again.
The reported bug was that the detachable joint was not correctly linked
between objects' canonical links with bullet-featherstone. While this
was addressed and confirmed working in #530, this adds a test to prevent
future regression (or for future physics implementations)
Signed-off-by: Michael Carroll <[email protected]>
The reported bug was that the detachable joint was not correctly linked
between objects' canonical links with bullet-featherstone. While this
was addressed and confirmed working in #530, this adds a test to prevent
future regression (or for future physics implementations)
Signed-off-by: Michael Carroll <[email protected]>
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🦟 Bug fix
Fixes gazebosim/gz-sim#2076
Summary
Previously, link indices were not accounted for when adding fixed constraints. This will use the link index if it is present (and still use -1 if the constraint is on the root link).
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.