Fix issue with removing skeletons without shapes #1625
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When `subscribeTo` is called with a skeleton in `addSkeleton`, the skeleton is added to `mSkeletonSources`. However, inside `removeSkeleton`, `unsubscribeFrom` is not called. Instead, `removeShapeFrameOf` is called. This is fine for most cases, but if it fails to remove the skeleton from `mSkeletonSources` if the skeleton does not have any shapes within it. This causes `mSkeletonSources` to grow indefinitely. A hazardous side effect of this is that when an attempt is made to add a new skeleton via `subscribeTo`, the address of the skeleton might be the same as one of the stale entries in `mSkeletonSources`. Consequently, the new skeleton's shapes don't get added to the collision detection engine and very surprising results follow. Signed-off-by: Addisu Z. Taddese <[email protected]>
jslee02
requested changes
Dec 18, 2021
| boxShape); | ||
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| // Needed to update subscribtions | ||
| world->step(1); |
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Suggested change
| world->step(1); | |
| world->step(); |
I guess you use 1 as the parameter to take a single simulation step, presuming from the gazebo API, but the parameter of World::step() is boolean to set whether reset the commands (e.g., joint forces). You can safely omit the parameter in that case since the function takes single step anyway.
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Yup, you guessed right 😄. Removed the parameter in bc78a37.
Signed-off-by: Addisu Z. Taddese <[email protected]>
jslee02
approved these changes
Dec 18, 2021
j-rivero
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Sep 19, 2023
Upstream reviewed and merged the following patches that are important for the robotics community: * Fix grouping of contact constraints dartsim/dart#1624 * Fix issue with removing skeletons without shapes dartsim/dart#1625 Add them in d/patches since upstream does not provide patch releases
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Description copied from gazebo-forks#4
When
subscribeTois called with a skeleton inaddSkeleton, the skeleton is added tomSkeletonSources. However, insideremoveSkeleton,unsubscribeFromis not called. Instead,removeShapeFrameOfis called. This is fine for most cases, but it fails to remove the skeleton frommSkeletonSourcesif the skeleton does not have any shapes within it. This causesmSkeletonSourcesto grow indefinitely. A hazardous side effect of this is that when an attempt is made to add a new skeleton viasubscribeTo, the address of the skeleton might be the same as one of the stale entries inmSkeletonSources. Consequently, the new skeleton's shapes don't get added to the collision detection engine and very surprising results follow.Here's a print out of
mSkeletonSourcesafter running several load/unload cycles via the levels feature of ign-gazebo where skeletons are removed and added repeatedly: https://gist.github.com/azeey/8fe5a55d19758923ef7c1b5df90869d3And here's the collision detection failing (failure after the 4th cycle):
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