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Fix graded buoyancy reference frame #1305

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arjo129 opened this issue Jan 21, 2022 · 1 comment · Fixed by #1307
Closed

Fix graded buoyancy reference frame #1305

arjo129 opened this issue Jan 21, 2022 · 1 comment · Fixed by #1307
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arjo129 commented Jan 21, 2022

Environment

  • OS Version: All
  • Source or binary build: Fortress and Garden

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

unstablebox

Essentially all boxes should be stable, but the one with a rotated link pose is not.
@arjo129 arjo129 added the bug Something isn't working label Jan 21, 2022
@arjo129 arjo129 self-assigned this Jan 21, 2022
@osrf-triage osrf-triage added this to Inbox in Core development Jan 21, 2022
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arjo129 commented Jan 24, 2022

Apparently the gist was not correct and loading uniform buoyancy mode instead of graded buoyancy. ☠️ 🤦‍♂️ . The problem does not exist in grade buoyancy mode.

@arjo129 arjo129 closed this as completed Jan 24, 2022
Core development automation moved this from Inbox to Done Jan 24, 2022
arjo129 added a commit that referenced this issue Jan 24, 2022
@arjo129
Logs a warning if a mode is not clearly sepecified.
068a413 
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>
@arjo129 arjo129 mentioned this issue Jan 24, 2022
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arjo129 added a commit that referenced this issue Feb 17, 2022
@arjo129 @caguero
Logs a warning if a mode is not clearly sepecified. (#1307)
1b569c9 
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>
@j-rivero j-rivero removed this from Done in Core development May 6, 2022
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Logs a warning if a buoyancy mode is not clearly specified. gazebosim/gz-sim
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