Fix FreeJoint world Jacobian translation #2298
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Codecov Report✅ All modified and coverable lines are covered by tests. Additional details and impacted files@@ Coverage Diff @@ ## main #2298 +/- ## ========================================== + Coverage 62.88% 62.96% +0.08% ========================================== Files 363 363 Lines 33023 33068 +45 Branches 4348 4348 ========================================== + Hits 20766 20822 +56 + Misses 12257 12246 -11
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- Use passed positions in getRelativeJacobianStatic - Integrate relative transform and solve back for Q - Fix relative Jacobian time-derivative rotation handling - Add FD Jacobian/Jdot + energy conservation tests - Add free_joint_cases ImGui example
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CI links gz-physics tests against vendored gtest but can compile with conda-forge gtest headers, causing undefined references to MakeAndRegisterTestInfo(std::string,...). Force-include a small compatibility header in the gz-physics build to forward the std::string overload to the legacy const char* implementation.
This reverts commit 4fdf479.
This reverts commit 766ffb8.
- Clamp the initial ImGui window size to the available display area so large --gui-scale values don't push the window off-screen. - Use a scale-specific ImGui window ID so changing --gui-scale doesn't reuse prior saved window geometry. - Add an XY grid visual (toggleable) to improve depth perception in the zero-gravity scene.
- Track the ImGui scale in ImGuiViewer and add getImGuiScale(). - Add ImGuiViewer::setUpViewInWindowScaled() to scale window dimensions. - Update ImGui examples using --gui-scale to call setUpViewInWindowScaled(). - Add missing compatibility header dart/gui/ViewerAttachment.hpp (re-export from Viewer.hpp) so dart/gui/All.hpp builds.
Fixes #1657.
This updates
dynamics::FreeJointJacobian/integration logic to remain consistent whenT_parentBodyToJointandT_childBodyToJointare non-identity.FreeJoint::integratePositions()to integrate the relative transform (body twist) and solve back forQ, preserving correct motion with offset joint frames.FreeJoint::getRelativeJacobianStatic(positions)to use the passed positions (instead of a cached Jacobian).setRelativeSpatialVelocity()uses the up-to-date pose-dependent Jacobian; fixupdateRelativeJacobianTimeDeriv()for non-identity child joint frames.free_joint_cases(ImGui) to visualize linear-only/angular-only/both and edge cases, with built-in numeric checks.Before creating a pull request
pixi run test-allto lint, build, and test your changes (CI passed; locally ranpixi run lint,pixi run test,pixi run test-py)