Prevent crash when objects move to invalid poses #706
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DART seems to compute invalid poses for certain objects (e.g. Capsule, Ellipse) with large accelerations. The computed poses end up with `nan` values resulting in a crash. This patch detects this condition and reassigns the poses to the last known poses and resets velocities to zero to prevent the crash. Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
ahcorde
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Dec 19, 2024
iche033
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Dec 19, 2024
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DART seems to compute invalid poses for certain objects (e.g. Capsule, Ellipse) with large accelerations. The computed poses end up with `nan` values resulting in a crash. This patch detects this condition and reassigns the poses to the last known poses and resets velocities to zero to prevent the crash. --------- Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> (cherry picked from commit a369e18)
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DART seems to compute invalid poses for certain objects (e.g. Capsule, Ellipse) with large accelerations. The computed poses end up with `nan` values resulting in a crash. This patch detects this condition and reassigns the poses to the last known poses and resets velocities to zero to prevent the crash. --------- Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> (cherry picked from commit a369e18)
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🦟 Bug fix
Fixes #661
Summary
DART seems to compute invalid poses for certain objects (e.g. Capsule, Ellipse) with large accelerations. The computed poses end up with
nanvalues resulting in a crash. This patch detects this condition and reassigns the poses to the last known poses and resets velocities to zero to prevent the crash.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.