Prevent crash when objects move to invalid poses (backport #706) #707
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DART seems to compute invalid poses for certain objects (e.g. Capsule, Ellipse) with large accelerations. The computed poses end up with `nan` values resulting in a crash. This patch detects this condition and reassigns the poses to the last known poses and resets velocities to zero to prevent the crash. --------- Signed-off-by: Addisu Z. Taddese <[email protected]> (cherry picked from commit a369e18)
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azeey
approved these changes
Dec 19, 2024
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🦟 Bug fix
Fixes #661
Summary
DART seems to compute invalid poses for certain objects (e.g. Capsule, Ellipse) with large accelerations. The computed poses end up with
nanvalues resulting in a crash. This patch detects this condition and reassigns the poses to the last known poses and resets velocities to zero to prevent the crash.Test it
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.This is an automatic backport of pull request #706 done by [Mergify](https://mergify.com).