Add policy for handling CalculateInertial failures #1543
Merged
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
If CalculateInertial fails to find valid inertial values, report an error by default, but allow users to choose a policy that uses default inertial values with a warning instead of a hard failure. Signed-off-by: Steve Peters <scpeters@openrobotics.org>
Signed-off-by: Steve Peters <scpeters@openrobotics.org>
8 tasks
8 tasks
|
thanks! the approach looks good. Is the expectation that we would set |
yes, I would lean towwards keeping the default behavior in sdformat and updating gz-sim |
|
added another test in Collision_TEST.cc in dc0242d |
Signed-off-by: Steve Peters <scpeters@openrobotics.org>
iche033
approved these changes
Feb 13, 2025
|
@Mergifyio backport sdf14 |
✅ Backports have been created
|
mergify bot
pushed a commit
that referenced
this pull request
Feb 14, 2025
If CalculateInertial fails to find valid inertial values, report an error by default, but allow users to choose a policy that uses default inertial values with a warning instead of a hard failure. The policy is used in Collision::CalculateInertial and tested. Signed-off-by: Steve Peters <scpeters@openrobotics.org> Signed-off-by: Ian Chen <ichen@openrobotics.org> Co-authored-by: Ian Chen <ichen@openrobotics.org> (cherry picked from commit 39826d4)
9 tasks
iche033
pushed a commit
that referenced
this pull request
Feb 18, 2025
If CalculateInertial fails to find valid inertial values, report an error by default, but allow users to choose a policy that uses default inertial values with a warning instead of a hard failure. The policy is used in Collision::CalculateInertial and tested. Signed-off-by: Steve Peters <scpeters@openrobotics.org> Signed-off-by: Ian Chen <ichen@openrobotics.org> Co-authored-by: Ian Chen <ichen@openrobotics.org> (cherry picked from commit 39826d4)
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
🎉 New feature
Alternative to #1542
Summary
If
Geometry::CalculateInertial()fails to calculate valid inertial values, the current behavior is to report aLINK_INERTIA_INVALIDerror and write no inertial values. The changes in #1542 would changeMesh::CalculteInertial()to return default inertial values by default if no valid values are found.This pull request adds a policy enum to
ParserConfigto retain the current error behavior by default, but also provides an option to warn and use default inertial values when invalid inertial values are calculated.Draft PR until more testing is added
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.