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Prevent crash when objects move to invalid poses (backport #706) #707

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merged 1 commit into from
Dec 19, 2024
Merged

Prevent crash when objects move to invalid poses (backport #706) #707

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1 change: 1 addition & 0 deletions dartsim/src/Base.hh
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Original file line number Diff line number Diff line change
Expand Up @@ -97,6 +97,7 @@ struct ModelInfo
std::vector<std::shared_ptr<LinkInfo>> links {};
std::vector<std::shared_ptr<JointInfo>> joints {};
std::vector<std::size_t> nestedModels = {};
std::optional<Eigen::VectorXd> lastGoodPositions = {};
};

struct ShapeInfo
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33 changes: 33 additions & 0 deletions dartsim/src/SimulationFeatures.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -15,8 +15,10 @@
*
*/

#include <Eigen/Geometry>
#include <limits>
#include <memory>
#include <sstream>
#include <string>
#include <unordered_map>
#include <utility>
Expand All @@ -30,6 +32,7 @@
#include <dart/constraint/ContactSurface.hpp>
#endif

#include <gz/common/Console.hh>
#include <gz/common/Profiler.hh>

#include <gz/math/Pose3.hh>
Expand Down Expand Up @@ -106,6 +109,36 @@ void SimulationFeatures::WorldForwardStep(

// TODO(MXG): Parse input
world->step();

for (auto &[ignore, modelInfo] : this->models.idToObject)
{
const Eigen::VectorXd &positions = modelInfo->model->getPositions();
if (positions.hasNaN())
{
std::stringstream ss;
ss << "Some links in model '" << modelInfo->localName
<< "' have invalid poses. ";
if (modelInfo->lastGoodPositions)
{
ss << "Resetting to last known poses.";
modelInfo->model->setPositions(*modelInfo->lastGoodPositions);
}
else
{
ss << "Resetting to zero poses.";
modelInfo->model->resetPositions();
}
gzerr << ss.str()
<< " Also resetting velocities and accelerations to zero."
<< std::endl;
modelInfo->model->resetVelocities();
modelInfo->model->resetAccelerations();
}
else
{
modelInfo->lastGoodPositions = positions;
}
}
this->WriteRequiredData(_h);
this->Write(_h.Get<ChangedWorldPoses>());
// TODO(MXG): Fill in state
Expand Down
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