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Apparently the gist was not correct and loading uniform buoyancy mode instead of graded buoyancy. ☠️ 🤦♂️ . The problem does not exist in grade buoyancy mode.
I had originally started this branch to fix#1305. Turns out that #1305 was not actually a problem, still I decided to take the opportunity to imporve the logging so that if a user fails to specify `<uniform_fluid_density>` or `<graded_density>` then the user will be warned. Furthermore, I add a test for graded density mode that shows that #1305 is not an issue.
Signed-off-by: Arjo Chakravarty <arjo@openrobotics.org>
I had originally started this branch to fix#1305. Turns out that #1305 was not actually a problem, still I decided to take the opportunity to imporve the logging so that if a user fails to specify `<uniform_fluid_density>` or `<graded_density>` then the user will be warned. Furthermore, I add a test for graded density mode that shows that #1305 is not an issue.
Signed-off-by: Arjo Chakravarty <arjo@openrobotics.org>
Co-authored-by: Carlos Agüero <caguero@openrobotics.org>
Environment
Description
This issue was actually spotted by @chapulina in #1302 for uniform buoyancy but it effects graded buoyancy as well. Basically the calculation for graded buoyancy also does not handle rotated link poses correctly. To reproduce run this sdf file: https://gist.github.com/arjo129/5d93669a05ddc9fc79c986f29f1ae925
Essentially all boxes should be stable, but the one with a rotated link pose is not.
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