Merge branch 'production' into fixCollisionReport

Author: rdiankov

docs/source/changelog.rst

@@ -7,6 +7,7 @@ Version 0.149.1
 ===============
 
 - Fix `FindFirstMatchingLinkIndex` and `FindSecondMatchingLinkIndex` in `CollisionPairInfo`
+- Set jitterer's `_busebiasing` flag to `false` in the beginning when receiving `SetManipulatorBias` command. The flag will be set to `true` after confirming that the requested manipulator exists and `vbiasdirection` is non-zero. This is because when the provided `vbiasdirection` is a zero vector, the intention is most likely to not use biasing.
 
 Version 0.149.0
 ===============

plugins/configurationcache/configurationjitterer.cpp

@@ -374,6 +374,9 @@ By default will sample the robot's active DOFs. Parameters part of the interface
 
     virtual bool SetManipulatorBiasCommand(std::ostream& sout, std::istream& sinput)
     {
+        // First, reset the flag so that we turn off biasing. We will turn it on again if inputs are valid.
+        _busebiasing = false;
+
         std::string manipname;
         Vector vbiasdirection(0,0,0.1);
         dReal nullsampleprob = 0.60, nullbiassampleprob = 0.50, deltasampleprob = 0.50;