werner291

Construct goal regions for floating+planar joints as position+orientation constraints

5

### Description Fixes #2801. This commit changes the implementation of `moveit_msgs::Constraints constructGoalConstraints(const moveit::core::RobotState& state, const moveit::core::JointModelGroup* jmg, double tolerance_below, double tolerance_above)` which originally assumed that every joint could simply be...

Hello! I was trying to build `sdformat` through Nix, and spent quite some time debugging due to CMake complaining about not being able to find ingition-math. After removing the QUIET...

Add someting about winding order (or lack thereof) to the Tetrahedron::face documentation.

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Hello! I've noticed that the method https://docs.rs/ncollide/0.14.1/x86_64-pc-windows-msvc/ncollide/shape/struct.Tetrahedron.html#method.face does not return triangles in a consistent winding order. Specifically, faces ABC and ABD have opposite vertex winding order (note how edge AB...

[BUG] Context is reused despite distinct requests, md5 hash is identical

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Hello, unfortunately, the MD5 checksum of a ROS message is of the message definition itself, not of the message contents. It's meant to be used for comparing the version of...

Upstream issue in collada_urdf might prevent compilation until fixed

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Hi! I had some trouble compiling `robowflex_visualization` earlier today, found out it was probably because of this: https://github.com/ros/collada_urdf/issues/43 Just a heads up in case the fix takes a bit to...

Clarification request: What does FloatingJointModel::distanceRotation return?

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Hello, the doc comment for `FloatingJointModel::distanceRotation` reads: `/// Get the distance between the rotation components of two states` As implemented here, the method is implemented as: https://github.com/ros-planning/moveit2/blob/main/moveit_core/robot_model/src/floating_joint_model.cpp#L122 For convenience, here's...

PR about potential missing *2 in FloatingjointModel::distanceRotation

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### Description See Issue [#1528](https://github.com/ros-planning/moveit2/issues/1528) I have only added a failing test case corresponding to the issue and created this PR to add any possible fixes, do not merge yet....

Crash when combining a MultibodyJoint, a fixed parent object, and a dynamic body colliding with the parent object

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Hello, so, I'm trying to make a pinball game. I have the game board/table as a large, fixed rigid body. The flippers are dynamic rigid bodies, attached through a `MultibodyJoint`...

Hi, it's me again. In the code below, I have a dynamic rigid body with a convex hull collider attached to a fixed rigid body. Note how the smaller cube...

Fix assimp not found on some systems leading to nonsensical inclusion

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Attempted fix #43, seems to work AFAIK, but please review.