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bullet-featherstone: Remove joint motor constraint on joint force cmd (backport #713) #714

Merged
merged 1 commit into from
Jan 27, 2025
Merged

bullet-featherstone: Remove joint motor constraint on joint force cmd (backport #713) #714

merged 1 commit into from
Jan 27, 2025

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@mergify mergify bot commented Jan 27, 2025

🦟 Bug fix

Fixes gazebosim/gz-sim#2729

Summary

Currently the joint motor responsible for enforcing a joint vel cmd does not disengage when a force command is received. This PR fixes the issue by removing the joint motor constraint whenever a joint force cmd is received.

Checklist

  • Signed all commits for DCO
  • Added tests
  • Updated documentation (as needed)
  • Updated migration guide (as needed)
  • Consider updating Python bindings (if the library has them)
  • codecheck passed (See contributing)
  • All tests passed (See test coverage)
  • While waiting for a review on your PR, please help review another open pull request to support the maintainers

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.

This is an automatic backport of pull request #713 done by [Mergify](https://mergify.com).

@iche033 @mergify
bullet-featherstone: Remove joint motor constraint on joint force cmd (…
33cccec 
…#713)

Signed-off-by: Ian Chen <ichen@openrobotics.org>
(cherry picked from commit 7597a2c)
@mergify mergify bot requested review from azeey and scpeters as code owners January 27, 2025 18:06
@mergify mergify bot mentioned this pull request Jan 27, 2025
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@github-actions github-actions bot added the 🎵 harmonic Gazebo Harmonic label Jan 27, 2025
@iche033 iche033 enabled auto-merge (rebase) January 27, 2025 18:25
@iche033 iche033 merged commit cf8c83f into gz-physics7 Jan 27, 2025
9 of 10 checks passed
@iche033 iche033 deleted the mergify/bp/gz-physics7/pr-713 branch January 27, 2025 18:40
@iche033 iche033 added the Bullet Bullet engine label Jan 27, 2025
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@iche033 iche033 iche033 approved these changes

@azeey azeey Awaiting requested review from azeey azeey is a code owner

@scpeters scpeters Awaiting requested review from scpeters scpeters is a code owner

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