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bullet-featherstone: Remove joint motor constraint on joint force cmd #713

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merged 2 commits into from
Jan 27, 2025
Merged

bullet-featherstone: Remove joint motor constraint on joint force cmd #713

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71a3684
Remove joint motor constraint on joint force cmd
iche033 Jan 25, 2025
b143ca3
undo some changes
iche033 Jan 25, 2025
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12 changes: 10 additions & 2 deletions bullet-featherstone/src/JointFeatures.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -287,11 +287,11 @@ void JointFeatures::SetJointAcceleration(
void JointFeatures::SetJointForce(
const Identity &_id, const std::size_t _dof, const double _value)
{
const auto *joint = this->ReferenceInterface<JointInfo>(_id);
auto *joint = this->ReferenceInterface<JointInfo>(_id);

if (!std::isfinite(_value))
{
gzerr << "Invalid joint velocity value [" << _value
gzerr << "Invalid joint force value [" << _value
<< "] commanded on joint [" << joint->name << " DOF " << _dof
<< "]. The command will be ignored\n";
return;
Expand All @@ -302,6 +302,14 @@ void JointFeatures::SetJointForce(
return;

const auto *model = this->ReferenceInterface<ModelInfo>(joint->model);
auto *world = this->ReferenceInterface<WorldInfo>(model->world);

// Disable velocity control by removing joint motor constraint
if (joint->motor)
{
world->world->removeMultiBodyConstraint(joint->motor.get());
joint->motor.reset();
}

// clamp the values
double force = std::clamp(_value,
Expand Down
11 changes: 10 additions & 1 deletion test/common_test/joint_features.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -146,7 +146,7 @@ TYPED_TEST(JointFeaturesTest, JointSetCommand)
auto base_link = model->GetLink("base");
ASSERT_NE(nullptr, base_link);

// Check that invalid velocity commands don't cause collisions to fail
// Check that invalid force commands don't cause collisions to fail
for (std::size_t i = 0; i < 1000; ++i)
{
// Silence console spam
Expand Down Expand Up @@ -181,6 +181,15 @@ TYPED_TEST(JointFeaturesTest, JointSetCommand)
EXPECT_NEAR(0.0, joint->GetVelocity(0), 1e-1);
}

// Set joint force to 0 and expect that the velocity command is no
// longer enforced, i.e. joint should not freeze in subsequent steps
joint->SetForce(0, 0.0);
for (std::size_t i = 0; i < numSteps; ++i)
{
world->Step(output, state, input);
EXPECT_LT(0.0, std::fabs(joint->GetVelocity(0)));
}

// Check that invalid velocity commands don't cause collisions to fail
for (std::size_t i = 0; i < 1000; ++i)
{
Expand Down
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